Asyfeed Pocket
Operating Manual
Document Asyril_AFEED-POC-01_Operating_Manual_EE
Version v1.7 Date 16.07.2012
Articles AFEED-POC-01--XX-XX-XX-XX
Asyfeed Pocket - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.7 FO 32.03.118
Manuel utilisateur - Asyril SA 3/44
Table of Contents
1. INTRODUCTION ............................................................................................................................... 5
1.1. GENERAL INFORMATION ........................................................................................................... 5
1.2. SAFETY INSTRUCTIONS ............................................................................................................ 6
1.2.1. General instructions ............................................................................................................. 6
1.2.2. Specific instructions.............................................................................................................. 7
1.3. WARRANTY INFORMATION ...................................................................................................... 10
1.4. EC CERTIFICATE ..................................................................................................................... 10
1.5. OTHER MANUALS .................................................................................................................... 10
2. DESCRIPTION ................................................................................................................................ 11
2.1. PRODUCT OVERVIEW .............................................................................................................. 11
2.1.1. Asyfeed module (MFEED) ................................................................................................ 11
2.1.2. Protective doors .................................................................................................................. 12
2.1.3. Rear frame ........................................................................................................................... 12
2.2. GENERAL CHARACTERISTICS ................................................................................................. 13
2.2.1. Technical data ..................................................................................................................... 13
2.2.2. General dimensions ........................................................................................................... 14
2.2.3. Alarms and visual signs ..................................................................................................... 16
2.3. PERFORMANCE ....................................................................................................................... 17
2.3.1. Workspace ........................................................................................................................... 17
2.3.2. Vision performances (AsyView) ....................................................................................... 19
2.4. ELECTRICAL INTERFACES ....................................................................................................... 21
2.4.1. Overview .............................................................................................................................. 21
2.4.2. AFEED internal wiring ........................................................................................................ 22
2.4.3. Emergency stop .................................................................................................................. 23
2.4.4. ByPass key .......................................................................................................................... 23
2.4.5. Connection to the Human-Machine interface (HMI) ...................................................... 23
2.4.6. Main stop button ................................................................................................................. 23
2.4.7. Power connection (E) ......................................................................................................... 24
2.5. PNEUMATIC INTERFACES ........................................................................................................ 25
2.5.1. Pneumatic connection........................................................................................................ 25
2.5.2. Characteristics of the compressed air ............................................................................. 25
2.6. MECHANICAL INTERFACES ..................................................................................................... 26
2.6.1. Installing the AFEED .......................................................................................................... 26
2.6.2. Mechanical interfaces ........................................................................................................ 27
2.6.3. Compliance .......................................................................................................................... 29
2.7. ACCESSORIES AND OPTIONAL MODULES ............................................................................... 29
2.7.1. Ionizer ................................................................................................................................... 29
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Operating Manual © Copyright Asyril S.A.
Introduction v1.7 FO 32.03.118
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3. TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 30
3.1. PRODUCT PACKAGING, TRANSPORTATION AND HANDLING .................................................... 30
3.2. UNPACKING INSTRUCTIONS .................................................................................................... 30
3.3. INSTALLATION AND STORAGE ENVIRONMENT ......................................................................... 33
3.3.1. Installation environment ..................................................................................................... 33
3.3.2. Storage environment .......................................................................................................... 33
4. MAINTENANCE AND REPAIR .................................................................................................... 34
4.1. SAFETY INSTRUCTIONS .......................................................................................................... 34
4.1.1. General instructions ........................................................................................................... 34
4.2. PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPAIR OPERATIONS ............................. 34
4.3. MAINTENANCE ........................................................................................................................ 35
4.3.1. Maintenance schedule ....................................................................................................... 35
4.3.2. General maintenance ......................................................................................................... 36
4.3.3. PocketDelta robot maintenance ....................................................................................... 38
4.3.4. Asycube maintenance........................................................................................................ 39
4.4. REPAIRS ................................................................................................................................. 41
4.5. TECHNICAL SUPPORT ............................................................................................................. 42
4.5.1. For a better service … ....................................................................................................... 42
4.5.2. Contact ................................................................................................................................. 42
Asyfeed Pocket - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.7 FO 32.03.118
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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 liable 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.
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1.2. Safety instructions
1.2.1. General instructions
1.2.1.1. Transportation
DANGER!
Particular attention should be paid to the weight of the packaged product when it is
being transported or moved. For more information, read paragraph 3 "Transportation,
handling and installation".
1.2.1.2. General
DANGER!
Check that the power supplies and other cables are disconnected from the unit before
performing any maintenance operations.
DANGER!
Only qualified personnel (trained by Asyril) are authorised to use this product.
DANGER!
Never unscrew the electric units or protective covers of the system. An electric shock
may cause serious physical injury. Only Asyril SA personnel are authorised to access
these parts for maintenance or repair purposes.
DANGER!
Never disconnect or connect the system cables without being sure that it is switched
off.
DANGER!
Modifications to the product are not permitted. Unauthorised modifications could lead
to a malfunction, fire and physical injury, etc.
DANGER!
In the event of a power outage, the product must be stopped. Failure to respect this
instruction may result in the product restarting accidentally.
DANGER!
Do not use the product in an environment in which it may come into contact with water
or oil.
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1.2.1.3. Disposal
As soon as the product reaches its end of life, please dispose of it as industrial waste.
NOTE:
The product must be disposed of in accordance with the standards, regulations and laws in
force.
1.2.2. Specific instructions
1.2.2.1. Personal Protective Equipment (PPE)
For safety reasons, operators must wear the following safety equipment when using the
product:
- Safety goggles when using the Asycube backlight with the safety doors open and
without the diffuser installed. (LED lighting equivalent to class 1 compared to lasers)
- Safety shoes when transporting the AFEED
NOTE:
It is the client's responsibility to install visual signs informing of the potential dangers and to
provide the associated protective equipment.
1.2.2.2. Parties involved
The table below defines the roles of each player:
Operator Adjuster Engineer Support Transporter Dismantler
Construction X
Transportation X
Installation X X
Commissioning X
Use X
Programming X
Operation X
Cleaning X X
Maintenance X
Dismantling X
Table 1-1: Parties involved
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1.2.2.3. Specific safety precautions concerning this product
(A) Electrical danger
A "danger of electric shock"
pictogram is affixed to the rear frame
of the AFEED:
DANGER!
Switch off the machine and
disconnect it before opening the
rear frame.
Only authorised personnel are
permitted to open the frame. For more
information, read chapter 4.2 on page
34 and chapter 4.3.2.1 on page 36.
(B) Mechanical danger
Take particular care when opening
and closing the doors. Never leave
the ByPass key in the AFEED.
Only authorised personnel are
permitted to use the ByPass key. For
more information, read chapter 4.2 on
page 34 and chapter 2.4.4 on page
23.
The procedure for changing the
tool 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).
(C) Specific client interface
It is the client's responsibility to install
visual signs or pictograms informing
of potential dangers associated with
its specific process.
Figure 1-1: Specific warnings
concerning the AFEED-POC
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(D) Mechanical danger
The procedure for changing the
tool 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).
(E) LED lighting danger
The AsyCube has integrated
backlighting composed of LEDs
(Light Emitting Diodes). These
LEDs emit visible or invisible
radiation depending on the colour
of the backlighting. This LED
lighting can cause discomfort, or
even damage to the cornea, retina
or lens. Do not look directly at a
light source without a diffuser and
without wearing personal
protection (safety goggles for class
1 laser lighting). Clients are
encouraged to document the
procedures in place to limit
exposure to LED radiation.
This backlighting must not be used
permanently. Please switch it off
after the image has been acquired.
Figure 1-2:Specific warnings concerning
the AFEED Pocket
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1.3. Warranty information
You will find all warranty information (scope, term, etc.) under the general terms of sale.
1.4. EC certificate
The EC certificate for your product is
supplied at the time of delivery. The
figure opposite shows an example of
how your certificate should look.
Figure 1-3: Example CE certificate
1.5. 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 current manual contains a technical description of the product, its functionalities, and
provides information about the maintenance and transportation requirements of the product.
Manual Title Manual reference Description of the content
AFEED
Operating
manual
AFEED-POC-
01_Operating_Manual_E_V1.0
THIS MANUAL
AFEED
HMI manual
AFEED-POC-01_HMI_Manual_E_V1.0 Describes how to
communicate with the
AFEED, how to program it,
and how to use the HMI.
Table 1-2: Other manuals
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2. Description
2.1. Product overview
The Asyfeed (AFEED) is a highly
flexible compact solution designed to
perform low added value repetitive
tasks such as palletisation, sorting or
assembly of small components.
Asyfeed Pocket comprises:
(A) Asyfeed module (MFEED)
(B) Rear frame
(C) Light column
(D) Protective doors
(E) Emergency stop
(F) HMI (Human-Machine Interface)
screen with a resolution of 1280x242.
(G) AFEED unit feet
(H) Transportation handles
(I) Main stop button
Figure 2-1: Asyfeed Pocket (AFEED)
2.1.1. Asyfeed module (MFEED)
The MFEED module is composed of a
linear conveyor, a vision system to
locate components and a robot to
facilitate their handling:
(A) Asycube
(B) Camera cover
(C) PocketDelta robot
(D) Electric unit
(E) DOAL (Diffused On Axis Light)
(F) MFEED electrical connections
(G) Tool changer
Figure 2-2: Asyfeed Module (MFEED)
(C) (B)
(E) (F)
(A)
(I)
(H)
(D)
(G)
(C)
(B)
(G)
(A)
(D)
(E)
(F)
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2.1.2. Protective doors
The AFEED unit is equipped with
three protective doors (A), (B) and
(C). Three handles enable each door
to be opened separately.
Opening the doors whilst the machine
is in operation will result in the
emergency stoppage of the process
in progress.
The ByPass key (D) enables the
doors to be opened without the
production programme being
interrupted.
Figure 2-3: AFEED unit protective doors
DANGER!
During normal operation, never leave the ByPass key on the selector!
IMPORTANT!
The ByPass key must only be used for maintenance or calibration purposes.
2.1.3. Rear frame
The rear frame of the AFEED unit
may be opened during maintenance
or repair operations. This provides
access to:
(A) An ionizer (optional)
(B) Two fans
(C) A pre-assembled pneumatic system
For more information about the
procedure required to open the rear
frame, read paragraph 4.3.2.1 entitled
"Opening the rear frame" on page 36.
Figure 2-4: Internal view of the rear frame
(C)
(B)
(A)
(D)
(B)
(A) (C)
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2.2. General characteristics
IMPORTANT!
Never try to use the product outside its specifications. In particular, it is essential to respect
the maximum load tolerated. Failure to respect these specifications will invalidate the product
warranty.
2.2.1. Technical data
AFEED Pocket AFEED Desktop
Description Packaging machine for bulk components
Feed system Asycube Asycube
Type of robot PocketDelta DesktopDelta
Cycle time 0.5 - 2 seconds 0.5 - 2 seconds
Positioning accuracy + 10 µm (3σ) + 10 µm (3σ)
Size of components
handled 0.15 - 5 mm 0.15 - 15 mm
Maximum force 2 N 20 N
Type of materials handled Metal, jewels, ceramics, glass,
semiconductors.
Metal, jewels, ceramics, glass,
semiconductors.
Tool changer
Component position and
orientation detection
Intuitive touch screen
interface
Noise volume < 60dBA
Easy configuration of a
new recipe
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2.2.2. General dimensions
Figure 2-5: General dimensions
Characteristic Value
Footprint 848 x 856
Weight 133 kg
620
856
860
710
93
0
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Please allow sufficient space around the unit during installation in order to enable each door
to be opened fully. In addition, ensure that there are no obstacles obstructing the correct
ventilation of the unit.
Figure 2-6: Size of unit, with doors open
The two control units (AsyView and HMI) can be accessed easily. Please allow enough
space to access these PCs.
IMPORTANT NOTE:
Only authorised personnel who have been trained by Asyril SA are permitted to open the side
panels to facilitate access to the control units!
1220
1714
235
1130
145
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2.2.3. Alarms and visual signs
The light column provides the
operator with important information:
Colour Machine state
Green Normal
operation
Flashing
green
Transition state
Orange Pause
Red Faulty
Flashing red Transition state
to "Error" state
Lights off No programme
in operation
Machine
switched off
IMPORTANT!
Ensure that the light column is visible. Figure 2-7: Light column
(Green)
(Orange)
(Red)
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2.3. Performance
2.3.1. Workspace
Figure 2-8: Workspace defined by the platform's midplane
The client's "process" part must be positioned in the working area of the robot.
NOTE
For an optimal cycle time, place your specific process as close as possible to the surface of
the Asycube.
55
103
Ø150 55
165
30
103
30
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This workspace is defined as the space accessible by the midplane of the robot's platform.
When a tool (or a compliance) is fitted to the robot, the workspace will be moved downwards
in relation to the length of the tool (or compliance). The following image illustrates this
phenomenon:
Figure 2-9: Height of the compliance
9.5
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2.3.2. Vision performances (AsyView)
2.3.2.1. Lighting
The table below summarises the lighting combinations proposed:
Resolution Field of view
Lighting
Without lighting DOAL 75 green DOAL 50 green
2 Mpx 46 x 35 mm Specific
programme
Specific programme
5 Mpx
46 x 35 mm Specific
programme
30 x 25 mm Specific
programme
Specific
programme
2.3.2.2. Detection limit
In order to define a detection limit associated with the Asyview, two situations must be
determined:
- Either you want to locate a precise detail (for example, to check whether a part is
present on the surface of the Asycube, or to perform a quality check on the diameter
of a hole, etc.). In this case, the detail must be greater than 20 pixels in size to achieve
quarter pixel localisation accuracy.
- Or you only want to check the presence or absence of a component without actually
locating it, in this case, a size of 10 pixels is sufficient.
The pixel-millimetre conversion depends on the field of view as well as the resolution of the
camera. The table below provides information about pixel-micron conversions.
Resolution
Size of sensor Field of view Minimum size of the detail in
pixels
Minimum size of the detail in microns
Width Length Width Length
Mpx px px mm mm px µm
2 1200 1600 35 46
20 575
10 288
1 29
5 2050 2448 35 46
20 376
10 188
1 19
5 2050 2448 25 30
20 245
10 123
1 12
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This table summarises the minimum size that a part or specific detail must have in order to be
able to locate them or detect them accurately.
Size of part
[pixels] P < 20 px P > 20 px
Size of detail
[pixels] D < 10 px 10px < D < 20 px D > 20 px
Example
Location of part
¼ px
accuracy
¼ px accuracy
¼ px accuracy
¼ px accuracy
Detail detection
Detail
localisation
¼ px accuracy
P P P
D
P
D
P
D
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2.4. Electrical interfaces
2.4.1. Overview
The electrical interfaces of the
AFEED unit at the front and to the
right of the unit:
(A) Emergency stop
(B) ByPass key (SafetyGuard)
(C) USB connection
(D) Main stop button
(E) Power connection
(F) USB connection
(G) DVI-D connection
(H) RJ 45 connection
NOTE:
The DVI connector for the screen
connected by the client (not supplied)
must be of "dual link" or "single link"
type, as shown in the figure below:
Figure 2-10: Electrical interfaces on the front of
the AFEED unit
Figure 2-11: Electrical interfaces on the right of
the AFEED unit
(D)
(E)
(F)
(G)
(H)
(A)
(B)
(C)
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2.4.2. AFEED internal wiring
At the time of delivery, the AFEED unit is fully wired (PocketDelta robot, Asycube, Asyview ,
etc.) However, the figure below provides information about the Ethernet connection of various
components:
Figure 2-12: Ethernet connection of various components
The two computers (HMI and Asyview) can be connected from the outside via a remote
desktop connection by means of the external RJ45 connector. The table below gives the IP
addresses of these two computers:
Unit LAN IP address Subnet Mask
HMI PC
LAN 1 192.168.0.100 (NOT modifiable!) 255.255.255.0
LAN 2 192.168.1.100 (to be modified according to
your network)
255.255.255.0
Asyview PC
LAN 1 192.168.1.70 (to be modified according to
your network)
255.255.255.0
LAN 2 192.168.0.70 (NOT modifiable!) 255.255.255.0
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2.4.3. Emergency stop
Pressing the emergency stop mushroom button (A) cuts the power supply to dangerous
components and generates an error on the interface. To restart production after an
emergency stop, the mushroom button must be deactivated.
IMPORTANT!
The emergency stop button must not be used to stop the system under normal conditions of
operation.
2.4.4. ByPass key
When the ByPass key is in the "OFF" position in the selector, the alarm signal associated
with the doors opening is ignored and it is possible to work with the doors open.
DANGER!
NEVER leave the key on the selector during normal use of the AFEED unit.
IMPORTANT!
The ByPass key must only be used during maintenance or adjustment operations.
2.4.5. Connection to the Human-Machine interface (HMI)
The following electrical interfaces are connected to the HMI:
- Two USB connectors: (C) and (F) which enable a USB key, keyboard or mouse to be
connected.
- A DVI connector (G) which is used to connect an additional screen necessary to
configure new recipes, maintenance operations or to perform advanced unit
programming. This screen must have the following characteristics:
Characteristic Value
Resolution 1280 x 1024
- An RJ 45 connector (H) used to connect the AFEED unit to a local business network
for example.
2.4.6. Main stop button
The AFEED unit may be stopped by turning the main button (D), located on the right of the
unit, to the OFF position.
IMPORTANT!
Ensure that no production programme is in operation when the unit is being stopped.
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2.4.7. Power connection (E)
The AFEED unit is supplied with
230VAC. The specific connector is
provided with the unit.
Electrical
characteristic
Value
Voltage 230 V AC
Current 10 A
Frequency 50 Hz
Power 430 W
Figure 2-13: Power connector on the AFEED unit
(male) side
Power connector Description
Cable cross-
section
1 mm2
Type of connector C13
IMPORTANT!
- Before the product is supplied with power, check that your voltage specifications
correspond to that for the product.
- Never disconnect the power cables when the system is in operation. Always switch off
the machine before disconnecting the cables.
In order to protect the AFEED unit, a
fuse is fitted in the rear frame. It has
the following specifications:
Fuse
Dimensions Ø5 x 20mm
Current 1 A T
For more information about the
maintenance steps and how to open
the rear frame, read chapter 4.3.2.1,
on page 36.
Figure 2-14: Location of fuses in the AFEED unit
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2.5. Pneumatic interfaces
2.5.1. Pneumatic connection
The AFEED unit is connected
pneumatically via the coupling union
(A) using an 8 mm diameter hose.
Characteristic Value
Nominal pressure 6 bar
Hose diameter 8 mm
For more information about the
procedure for checking the pressure
of the compressed air, read chapter
4.3.2.2 on page 36.
Figure 2-15: Pneumatic connection
2.5.2. Characteristics of the compressed air
In order to ensure optimal performance of the pneumatic system, the following characteristics
must be respected:
Characteristic Value
Nominal filtration rate < 5 µm
Lubricant recommended No lubrication
(A)
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2.6. Mechanical interfaces
2.6.1. Installing the AFEED
The AFEED unit must be installed on
a smooth, rigid and stable surface.
Ensure that the unit is level during the
installation process. Failure to respect
this instruction may significantly
impair the performance of the AFEED
unit.
In order to ensure that the unit is
stable, the four feet can be
unscrewed and therefore be adapted
to the surface on which the AFEED
unit is positioned.
Figure 2-16: Installing the AFEED unit
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2.6.2. Mechanical interfaces
The tools and gripping devices are not supplied with the basic unit. Their design varies
according to the applications and they must therefore be adapted specifically to each type of
part being handled. The gripping devices are attached to a tool holder, which is itself attached
to the robot's platform.
For more information about the robot's platform, refer to the documentation for the
PocketDelta robot
2.6.2.1. Robot tool
Figure 2-17: Mechanical interface for the robot tool
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2.6.2.2. Robot calibration tool
Figure 2-18: Calibration tool
For more information about the calibration procedure, refer to the HMI manual.
2.6.2.3. Calibration plate (for Asycube)
Figure 2-19: Calibration plate (2 mm thick)
Ø10
Ø5
17.9
Ø2
11.7
Interface with the tool
Ø 2.2
Ø 0.8
57
46
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2.6.3. Compliance
The robot compliance enables a robot error to be avoided in the event of a minor impact or
the application of a weak force.
2.7. Accessories and optional modules
2.7.1. Ionizer
If the option is chosen, the ionizer is fitted and ready to be used.
For more information about the ionizer, please refer to the manufacturer's technical
documentation.
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3. Transportation, handling and installation
3.1. Product packaging, transportation and handling
The product must be transported in accordance with the specifications indicated on the
package (top, bottom, fragile, etc.). In addition, the following points must be strictly respected:
IMPORTANT!
- Take note of the weight of the product and take adequate precautions during
handling.
- Always hold the system firmly using the handles.
- Never carry a heavy package on your own.
- Do not climb on the package.
- Never place heavy objects on the package.
- Take particular care to avoid damaging the product during transportation.
The AFEED unit is supplied attached to a wooden pallet and covered in plastic protective
film. The pallet must be unloaded and moved carefully using a forklift truck.
Value
Dimensions 848 x 856 x 930
Total weight 133 kg
Table 3-1: Weight of the packaged product
3.2. Unpacking instructions
Before unpacking, please check the condition of the ShockWatch label. In order to ensure a
problem-free delivery, all Asyril products are dispatched with this label. This label contains an
indicator that breaks if the package is mishandled. If the content of this indicator is red at the
time of delivery:
(A) Ask the transporter to be present at the time of unpacking.
(B) Pay particular attention to the external condition of the product.
(C) If any damage is noted, do not sign the receipt and contact Asyril
immediately.
(D) In all cases, indicate the condition of the ShockWatch label on the
delivery note.
Figure 3-1: ShockWatch
NOTE:
If the products received do not match your delivery note, or are delivered in poor condition,
do not sign the receipt and contact Asyril as soon as possible.
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To unpack the AFEED unit,
(A) Move the unit on the pallet as close
as possible to its installation site,
using a forklift truck.
For more information about the
installation environment of the
AFEED unit, read chapter 3.3.1 on
page 33.
(B) Carefully remove the plastic
protection.
(C) Where applicable, take any
individual products out of their
packaging and check the condition
of each product. If any damage is
observed, contact Asyril
immediately.
(D) Move the AFEED unit to its final
place of use with the carrying
handles (i) and (ii)
IMPORTANT!
Take note of the weight of the
product and take adequate
precautions during handling.
Install the AFEED unit so that it is
level and adjust the feet of the unit.
For more information about
installing the AFEED unit, read
chapter 2.6.1. on page 26.
Figure 3-2: Unpacking the AFEED unit
(ii)
(i)
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Find the product identification plate
on the left-hand side of the AFEED
unit and check that you have
received the correct product.
Figure 3-3: Product key sticker
This plate contains important
information such as electricity
consumption or the serial number,
which you will need in the event of
any correspondence with Asyril.
Figure 3-4: Location of the information plate
The product key gives the following information about the product:
PRODU - TYP - VE - - AA - BB - CC - DD
Product
AFEED – Asyfeed unit
Type of robot
POC - Pocket Delta robot
Version
01 – Version number AA – Specific program
Module
01 - module MFEED-POC-01- - 01-01-01-01
Type of HMI
01 – Standard
Option
01 – Standard
Option
01 – Standard
Figure 3-5: Product key
Version : Base FO_32.01.120_Plaquette_CE_Breitling.doc
Plaque de 14cm sur 6cm Diamètre de trous : 3.5mm Distance du bord à l’axe du trou: 6mm Matière : Gravoply noir mat – écriture blanche
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3.3. Installation and storage environment
IMPORTANT!
The AFEED unit must be installed on a smooth, rigid and stable surface. Ensure that the
unit is level during the installation process. Failure to respect this instruction may
significantly impair the performance of the AFEED unit.
3.3.1. Installation environment
The AFEED unit must be used under the following conditions:
- Work temperature: +5°C to +40°C
IMPORTANT!
It should be noted that temperature variations may affect the accuracy of the robot,
particularly if accuracy below 10 microns is necessary.
- Pay particular attention to dust: the system must be used in a clean environment.
- Avoid exposing the AFEED unit to direct light radiation that is too intense. Failure to respect
this instruction may result in poor operation of the vision recognition system.
- Humidity: from 30% to 95% max. without condensation.
IMPORTANT!
In cases of extreme humidity, please note that the performance of the AFEED unit may
be impaired. In addition, for humidity levels below 30%, electrostatic forces may disrupt
the behaviour of the parts.
- Avoid powerful electromagnetic waves, ultraviolet light or other radiation.
- Do not use the product in an area where the controller may be exposed to water or oil
projections.
- ISO7 and ISO8 type cleanroom applications
IMPORTANT!
The product must not be used in a corrosive gas atmosphere. Oxidation may occur,
resulting in damage to the product.
3.3.2. Storage environment
The storage environment of the product must be similar to its operating environment.
NOTE:
After a prolonged period of inactivity, the robot may require recalibration.
For more information about the calibration procedure, please refer to the HMI manual.
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4. Maintenance and repair
4.1. Safety instructions
4.1.1. General instructions
IMPORTANT!
No maintenance operation must be performed inside the product. To perform internal
maintenance operations, please contact Asyril. Failure to respect this requirement will
invalidate the warranty.
DANGER!
Never use the system when it is damaged. Check that you have resolved the
problem before restarting the machine.
DANGER!
Stop the system and disconnect it from its supply before carrying out any
maintenance operation.
DANGER!
Never pour water over the product. Spraying water over the product or cleaning it
with water may cause serious malfunctions, or cause injuries due to the
associated electrical danger.
4.2. Personnel responsible for maintenance or repair operations
Maintenance operations must be performed by trained personnel. Three categories of
personnel are defined:
(A) Maintenance technicians who have not undertaken the training provided by Asyril
(B) Maintenance technicians who have undertaken the training provided by Asyril
(C) Asyril maintenance technicians.
Ensure that the person responsible for the maintenance work performed on the product has
read and understood this manual. In all cases, the safety precautions must imperatively be
followed.
NOTE:
A report will be written for each maintenance operation performed by Asyril.
For more information about our maintenance service, please consult our After-Sales
department.
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4.3. Maintenance
NOTE:
The information given in the table below is provided purely for illustrative purposes. The
frequency at which these operations should be performed must be adapted according to
usage of the product, the operating environment, etc.
4.3.1. Maintenance schedule
The AFEED unit requires little maintenance, however, simple inspections must be performed
at regular intervals in order to ensure optimal performance of the product:
Operation Period Personnel Reference
General Clean the machine Weekly A 4.3.2.3
Clean the air filters Yearly B 4.3.2.4
Tool
changer
Visually inspect the tools (check their
condition) and replace if necessary Weekly B
Clean the tool suction holes Weekly A
Optical
parts
Visually inspect and, if necessary, clean
then recalibrate. Yearly C
Contact Asyril
Pneumatic Inspect the pneumatic system and, if
necessary, replace the air filters. Half-yearly B 4.3.2.2
Asycube Inspect the coils and check the
behaviour of the parts. Yearly C
Contact Asyril
Visually inspect and clean the Bulk and
Asycube platform Weekly A 4.3.4.1
Visually inspect and clean the 3D
vibration module Yearly B 4.3.4.2
Robot Visually inspect, clean and lubricate the
articulations of the parallel structure, the
hinges and the platform
Yearly C Contact Asyril
Clean the robot Yearly B 4.3.3.1
HMI Calibrate the touch screen If necessary B
Refer to HMI manual
Backup files and programs Monthly B
Table 4-1: Periodic maintenance table
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IMPORTANT!
Regardless of the type of maintenance operation, always use genuine Asyril parts.
4.3.2. General maintenance
4.3.2.1. Opening the rear frame
Equipment required:
- A quarter turn spanner
DANGER!
Stop the system and disconnect it
from its supply before opening the
frame.
Step 1 Unscrew the two quarter turn
screws (A)
Step 2 Pull on the panel with force using
the two handles (B)
(magnets continue to hold the
panel in position even when the
quarter turn screws are
loosened).
Figure 4-1: Rear frame
4.3.2.2. Checking the air pressure
Step 1 Open the rear frame
For more information, refer to
paragraph 4.3.2. on page 36.
Step 2 Check that the pressure gauges
(A) and (B) respectively indicate
a pressure of 6 and 3 bar.
Step 3 If necessary, replace the air filter
(C) and empty the water in the
container (D) by unscrewing the
nut (E).
Figure 4-2: Pneumatic system
(B)
(A)
(A)
(E)
(B)
(C)
(D)
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4.3.2.3. Cleaning the machine
Equipment required:
- A soft lint-free cloth
- Isopropanol alcohol (30% in water)
Step 1 Clean all of the external surfaces
of the AFEED unit (touch screen,
doors, light column, etc.)
Step 2 Clean the touch screen
Step 3 Clean the handles
Figure 4-3: Cleaning the machine
4.3.2.4. Cleaning the air filters
Equipment required:
- Vacuum
Use a vacuum to remove the dust that has accumulated in filters (A), (B), (C), and (D)
Figure 4-4: Ventilation holes
(A)
(B)
(C)
(D)
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4.3.2.5. Cleaning the optical parts
Visually inspect the optical parts (camera, lens, DOAL, mirrors, etc.) and clean if necessary.
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information, please contact Asyril customer services.
4.3.3. PocketDelta robot maintenance
4.3.3.1. Clean the robot
Equipment required:
- A soft lint-free cloth
- Isopropanol alcohol (30% in water)
- Vacuum
Step 1 Clean all of the external surfaces
of the PocketDelta robot, paying
particular attention to the arms
(B)
Step 2
Use a vacuum to remove the
dust that has accumulated in
filter (A)
Figure 4-5: Cleaning the PocketDelta robot
4.3.3.2. Checking the parallel structure
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information, please contact Asyril customer services.
- Clean and lubricate the parallel structure
- Check the lower arms
- Check the play in the platform
4.3.3.3. Checking the motor assembly
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information, please contact Asyril customer services.
- Check the motors
- Check the brakes
(A)
(B)
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4.3.3.4. Checking the control unit
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information, please contact Asyril customer services.
4.3.4. Asycube maintenance
4.3.4.1. Cleaning the Bulk
Equipment required:
- A soft lint-free cloth
- Isopropanol alcohol (30% in water)
- Allen key (1.5 mm)
Step 1 Unscrew the six screws (A) to
remove the plexiglas plate (B) from
the bulk
Step 2 Carefully clean all of the internal
surfaces.
Figure 4-6: Bulk
4.3.4.2. Inspecting and cleaning the platform
Equipment required:
- A soft lint-free cloth
- Isopropanol alcohol (30% in water)
Step 1 Check the appearance of the surface
of the platform (A) and pay particular
attention to the following points:
- Scratches
- Dust
- Stained surfaces
- Greasy surfaces
IMPORTANT!
If the surface is damaged, the
platform must be replaced in order to
guarantee that the parts can be
correctly recognised.
Step 2 Clean the surface of the platform
Figure 4-7: Platform
(B)
(A)
(A)
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4.3.4.3. Cleaning the 3D vibration module
Equipment required:
- Tweezers
- Compressed air blower
- Allen key (2 mm)
Step 1 Unscrew the six screws (B)
securing the plate (A) on the
right-hand side of the Asycube.
Step 2 Clean and remove any parts that
may have fallen into the Asycube
during production using
tweezers.
Figure 4-8: Cleaning the 3D vibration module
4.3.4.4. Inspecting the coils
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information, please contact Asyril customer services.
(A)
(B)
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4.4. Repairs
This section provides a non-exhaustive list of the replacement parts available for your
product. The product should be returned to the manufacturer for any repair work. In
exceptional cases, and after approval by Asyril SA, this repair work may be performed in the
client's premises by trained personnel.
IMPORTANT!
Regardless of the type of replacement operation, always use genuine Asyril parts.
Two types of parts are defined:
(A) Parts likely to be replaced every year (wearing parts)
(B) Parts likely to be replaced every 5 years.
NOTE:
For more information about the replacement parts specific to your equipment, please
refer to the list supplied with your machine.
NOTE:
For more information about the replacement parts for your Mezzo Asycube, please refer
to the manual for your Asycube.
NOTE:
For more information about the replacement parts for your PocketDelta robot, please
refer to the manual for your robot.
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4.5. Technical Support
4.5.1. For a better service …
Have you read the FAQ and the check-list and still not found an answer your questions?
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.
4.5.2. Contact
You can find extensive information on our website: www.asyril.ch
You can also contact our Customer Service department:
+41 26 653 7190
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Revision table
Rev. Date Author Comments
V1 09.09.2011 SiA Initial version
V1.1 04.11.2011 SiA Diagram on p.20 amended following wiring modification
V1.2 08.11.2011 SiA Various corrections following translation.
V1.3 17.11.2011 SiA Addition of danger related to the tool changer and Asycube backlight
V1.4 09.02.2012 SiA Addition of IP addresses for HMI and AsyView PCs
V1.5 30.03.2012 SiA Addition of dimensions with PC drawers open
V1.6 16.07.2012 SiA Modification of size of unit – ERRATA: Width
V1.7 19.10.2012 SiA Modification of replacement parts list (reference to other documents)
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
www.asyril.ch