Asyfeed Module
User Guide

Document

Asyril_MODULE_ASYFEED_User_Guide_EN
000.100.511

VersionD2

Date

16.04.2020

Asyfeed Module
User Guide
Table of Contents© Copyright Asyril S.A.
Version: D2

Table of Contents
TABLE OF CONTENTS .............................................................................................................................. 2
1.

2.

INTRODUCTION ............................................................................................................................... 4
1.1.

GENERALITIES .......................................................................................................................... 4

1.2.

RELATED MANUALS .................................................................................................................. 5

GENERAL INFORMATION ............................................................................................................. 6
2.1.

STRUCTURE OF RECIPE AND MACHINE PARAMETERS .............................................................. 6

2.2.

DESCRIPTION OF MACHINE STATES.......................................................................................... 7

2.3.

TOOL CHANGING PROCEDURE.................................................................................................. 9

2.4.

RELEASING THE BRAKES ........................................................................................................ 103.

PICK’N’PLACE BLOCK DIAGRAM ............................................................................................ 114.

CYCLE DESCRIPTION ................................................................................................................. 13

5.

6.

4.1.

SCHEMA .................................................................................................................................. 13

4.2.

POINTS OF THE CYCLE DESCRIPTION ..................................................................................... 14

4.3.

DESCRIPTION OF THE MOVEMENTS ........................................................................................ 15

4.4.

REMARKS AND INFORMATION ................................................................................................. 16

PICK&PLACE CYCLE PARAMETERS ...................................................................................... 17
5.1.

PROGRAM PARAMETERS ........................................................................................................ 17

5.2.

PLACING TRAY PARAMETERS ................................................................................................. 19

MACHINE PARAMETERS – CALIBRATION ............................................................................ 20
6.1.

PX / MM CALIBRATION ............................................................................................................ 20

6.1.1. Aim ........................................................................................................................................ 20
6.1.2. Advantages .......................................................................................................................... 20
6.1.3. Disadvantages .................................................................................................................... 20
6.1.4. When performing px/mm calibration ................................................................................ 20
6.1.5. How performing px/mm calibration .................................................................................. 21
6.2.

CALIBRATION OF THE PICK FRAME (ASYCUBE)....................................................................... 22

6.2.1. Aim ........................................................................................................................................ 22
6.2.2. Facts ..................................................................................................................................... 22
6.2.3. Options ................................................................................................................................. 22
6.2.4. How performing process calibration ................................................................................ 22
6.2.5. Vision .................................................................................................................................... 22
6.2.6. Picking Robot frames ......................................................................................................... 25
6.3.

CALIBRATION OF THE PLACE FRAME ...................................................................................... 27

6.4.

CALIBRATION OF THE TOOL CHANGING FRAME ...................................................................... 29

6.5.

TOOL CALIBRATION ................................................................................................................. 30000.100.511

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Table of Contents© Copyright Asyril S.A.
Version: D2

6.5.1. Definition of the tools.......................................................................................................... 32
REVISION TABLE ..................................................................................................................................... 33

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Asyfeed Module
User Guide
Introduction© Copyright Asyril S.A.
Version: D2

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 thisdocument 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 toelectric 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 toanother 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 thenecessary instruction to the persons concerned.
NOTE :All dimensions in this document are expressed in millimeters000.100.511

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Asyfeed Module
User Guide
Introduction

1.2.

© Copyright Asyril S.A.
Version: D2

Related manuals
As described in the Table 1-1, this manual is an integral part of the Asyfeed Pocket Module
documentation set. This manual describes the main functionalities of the machine and thestandard P&P and calibration cycles.

Manual Title
OperatingDescription of theManual reference
MODULE_ASYFEED_Operating_Manual_ENmanualcontent
Technical description of the
product, electrical andmechanical interfaces,
maintenance and transport
information

HMI manual

Accessible directly via the
HMI

Programming

MODULE_ASYFEED_Programming_Guide_EN

Guide

Description of the ARL
instructions

User Guide

MODULE_ASYFEED_User_Guide_EN

THIS MANUAL

User Guide

SMARTSIGHT_User_Guide_EN

Describes how to configure
the feeding and the vision
detection

Table 1-1 : Related manuals

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Asyfeed Module
User Guide
General information© Copyright Asyril S.A.
Version: D2

2. General information
The document describes the different parameters of the pick&place process as well as theprocedures to calibrate the different machine frames. It describes also the main functionality
and general use of the machine.
The process (ARL program) delivered with this machine and explained within this document is
implemented in the way of having a sufficient level of flexibility to make pick&place operations
with most of parts and applications.
Thanks to the flexibility of the ARL programming language as well as because this program isincluded in the recipe, customer can modify it on its own for more complex cases.

2.1.

Structure of recipe and machine parameters
Depending the application and components to manipulate several parameters might be tuned.
The machine parameters (tools, frames, robot controller, etc.) are saved within the robot andare then independent of the recipes. The recipes contain all parameters linked to thecomponents to manipulate (asycube vibrations, vision model configuration, pick&place
process, etc.). The general structure of recipes is explained in Figure 2-1.

Recipe *.rec (global)
PROCESS
Recipe *.prec

VISION + FEEDER
Recipe *.vrec- Process- Dynamical variables*.mavaf-Vibration parameters- Vision model
configuration

Machine parameters:- Frames- Tools- Points- Robot controller- Collection of points*.mavaf- Configuration dumodèle vision

Figure 2-1 : Description of the recipe structure
As explained here above, a recipe *.rec has two separates parts: a *.vrec part which contains
one file *.mavaf and the second one *.prec which contains the pick&place process parameters
and its dynamical variables.
A *.mavaf file contains all parameters for the configuration of a vision system and of thecorresponding asycube. If no feeder is connected to a camera, the *.mavaf contains of course
only the vision parameters (for ex. In case of a control camera).

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User Guide
General information© Copyright Asyril S.A.
Version: D2

The procedure and the different parameters to manage the asycube and the vision are
described in the document SMARTSIGHT_User_Guide_EN.

2.2.

Description of machine states
The Asyfeed unit can be controlled using the following buttons:
ButtonDescription
This "start" button is used to start production if a recipe has already been loaded.
It also enables production to be resumed if the "pause" button was pressed
beforehand. (when production is in process, this button adopts the function of a"pause" button).
The "pause" button enables production to be in "pause" mode. When production ispaused, this button adopts the function of a "start" button. When a pause request
is made, the pause button turns grey whilst production is paused.
DANGER!
Pressing the "pause" button does not necessarily stop movement.
In fact, depending on the program compiled by the integrator, therobot may still move (move to a safe height, etc.). However, it is notadvisable to include movements in this program section.
The only way to stop the robot and associated processes is bypressing the emergency stop button.
This "stop" button enables production to be halted. The robot and associatedprocesses will be stopped.
DANGER!
Pressing the "stop" button does not necessarily stop movement. In
fact, depending on the program compiled by the integrator, therobot may still move (place the tool, move to a safe height, etc.).
The only way to stop the robot and associated processes is bypressing the emergency stop button.

The "stop" button is greyed out when it is impossible to stop production (forexample, when production has already stopped).

This "clear" button is only available from the alarm tab. It is used to clear thealarm. When no alarm has occurred, this button is greyed out.
DANGER!
Pressing the "clear" button may result in a series of robot
movements (place a tool, move to a safe height, etc.)
Table 2-1 : Description of the Start / Stop buttons states000.100.511

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User Guide
General information© Copyright Asyril S.A.
Version: D2

The Asyfeed unit is programed to operate according to the following states:

Figure 2-2: Asyfeed unit machine states
The dotted arrows represent automatic states transition without the need of the intervention of
the user.
The states represented in blue rectangles are transition states to a final state (redhexagons). These states also correspond to an executable and modifiable ARL
program (e.g. turning on a red light when passing through the "Stopping" state).
The states represented by a red hexagon are final states whose ARL program
cannot or should not be modified. Except for "Idle", a user action is required to exit
these states.
Depending on the state in which the Asyfeed unit is in at a particular point in time t, the operator
has the following options available:

Current state

ActionNext state

StoppedPress START

Running

PausedPress START

Running

Alarm

Press CLEAR

StoppedRunning

Press STOP

StoppedPress PAUSE

Held

Table 2-2 : State transitions
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User Guide
General information

2.3.

© Copyright Asyril S.A.
Version: D2

Tool changing procedure
The Asyfeed Pocket Module is equipped with a semi-automatic tool changer that enables atool to be loaded and unloaded from the robot's platform.

DANGER!
The procedure must be performed by a single person (risk of a hand injury when loadingor unloading the tool if another person gives the order whilst the adjuster is installing
the tool in the zone).

42-

1-

5Figure 2-3: Procedure for changing the tool
To change the tool, please respect the following steps.
Step 1Press the "Shortcuts" button to display the "Shortcuts" screen.

Step 2Press the "unload tool" button and wait until the unload procedure is complete.

Step 3

Change the tool in the tool changer.

Step 4Press the "load tool" button and wait until the load procedure is complete.

(Step 5)Press the "Start" button to start production

EQUIPMENT DANGER!
When the unit is stopped (switched off), no tool must be loaded onto the platform or tool
holder. Failure to observe this regulation may result in the robot being damaged during
the next initialization procedure.

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General information

2.4.

© Copyright Asyril S.A.
Version: D2

Releasing the brakes
EQUIPMENT DANGER!
When the brakes are released, the robot's platform is no longer held by any force; it istherefore essential to secure it to prevent the platform or tool from crashing.

2-

3-

1-

Figure 2-4: Procedure for releasing the brakes
To release the brakes of the robot, please respect the following steps
Step 1Press the "Shortcuts" button to display the "Shortcuts" screen.

Step 2Press the "off" button to switch off the motors. The brakes are then automaticallyapplied to prevent a robot crash.

Step 3

Tick the "brakes release" box to release the brakes of the robot.

Step 4Once the desired operations have been done, tick again the “brakes release” box
to tighten again the brakes. You can then release the robot platform.

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Pick’n’Place Block diagram© Copyright Asyril S.A.
Version: D2

3. Pick’n’Place Block diagram
This diagram describes the cycle of the pick and place recipe.
P’n’P
Execute Program

Variables definitions

Movement to«Security» position

Movement to «Out Of
Vision» position

Field Of View
UnlockPlace position definition

From i:=0 To
NumberX By 1

Loop Finished when i > NumberX
2

Loop Finished when j > NumberY

If j = NumberY
Then Restart
j=0 With
i:=i+1J=0And i:=i+1

From j:=0 To
NumberY By 1

Movement to «Security»
position

Palletize

Check Exclusion
position

END OF PALLETIZINGCheck next position

3

Pick Position request

Field Of View
Lock

Movement to «Pick Point»

Pick part action

Movement to «Pick
trajectory point»

1

Figure 3-1 : Pick and place block diagram part 1/2
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User Guide
Pick’n’Place Block diagram© Copyright Asyril S.A.
Version: D2

1

Remove Pick Position

1
3

2

Field Of View
UnlockMovement to «Place
trajectory point»

Movement to «Place point»

Place Part action
Check Next Position

Movement to «Place
trajectory point»

j:=j+1

Legends:

Request to the AsyView

Programming Loop
Incrementation of
Variable isautomatic

Variables definitions, robot
movement

BEGINNING and END

Figure 3-2 : Pick and place block diagram part 2/2

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Asyfeed Module
User Guide
Cycle description© Copyright Asyril S.A.
Version : D2

4. Cycle description
4.1.

Schema

P1

M1

P5

M6

M5

P4

M2
M7

M11

M4

P2
P6
M10

M3
P8

M8

M9

P7

P3

Figure 4-1 : Pick and Place cycle

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Cycle description

4.2.

© Copyright Asyril S.A.
Version : D2

Points of the cycle description

Point

Description

P1

Pick trajectory point

P2

Pick approach point

P3

Pick point

P4

Pick vertical escape

P5

Place trajectory point

P6

Place approach point

P7

Place point

P8

Place lateral escape point
Table 4-1 : Points of the cycle

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Cycle description

4.3.

Version : D2

Description of the movements

Movement

Description

Target Position

Speed

Other Parameters

M1

Lateral movement to reach picking area

Z:
X-Y:

P1b→Pick trajectory height
Vision position

High speed

Trajectory blend

M2

Vertical movement to approach pick position

Z:
X-Y:

P2b→Pick approach height
Vision position

P2a→Pick approach speed

Trajectory blend

M3

Pick movement

Z:
X-Y:

P3b→Pick height
Vision position

P3a→Pick speed

P3c→Wait before pick
P3d→Wait after pick

M4

Vertical movement after pick

Z:
X-Y:

P4b→Pick vertical escape
Vision position

P4a→Pick vertical escape
speed

M5

Vertical movement to trajectory pick height

Z:
X-Y:

P1b→Pick trajectory height
Vision position

High speed

Trajectory blend

M6

Lateral movement to reach placing area

Z:
X-Y:

P5b→Place trajectory heightCalculated position on tray

High speed

Trajectory blend

M7

Vertical movement to approach place position

Z:
X-Y:

P6b→Place approach heightCalculated position on tray

P6a→Place approach speed

Trajectory blend

M8

Place movement

Z:
X-Y:

P7b→Place heightCalculated position on tray

P7a→Place speed

P7c→Wait before place
P7d→Wait after place
P7e→Blow while escaping

M9

Optional lateral escape movement

Z:
X-Y:

M10

Vertical movement to place approach position

Z:
X-Y:

P7b→Place heightCalculated position on tray + P8b→Placelateral escape distance
P6b→Place approach heightCalculated position on tray + P8b→Placelateral escape distance

M11

Vertical movement to place trajectory position

Z:
X-Y:

P5b→Place trajectory heightCalculated position on tray

P8a→Place lateral escapespeed
P6a→Place approach speed

Trajectory blend

High Speed

Trajectory blend

Table 4-2 : Moves of the cycle

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Cycle description

4.4.

Version : D2

Remarks and information•

Each “Pick” heights (P2, P3 and P4) are calculated relatively to the height of the part : “D°°Part height”. If the part height is unknown the value should be
set to 0.

•

Each “Place” height (P6 and P7) are calculated relatively to the length of the part out of the tool : “E°°Part length out of tool”. If the length is unknown thevalue should be set to 0.If the Pick Leave Movement (M4) is not essential (hence the robot moves straight up at high speed to the trajectory pick position
P1), simply put the “P4b→Pick vertical escape” to the same value as “P3b→Pick height” and the “P4a→Pick vertical escape speed” to the same value as“L°°High speed”.

• If the lateral escape movement after place (M9) is not essential (hence the robot moves straight up at high speed from the place position P7 to the placeapproach position P6), simply put the “P8b→Place lateral escape distance” to 0 and the “P8a→Place lateral escape speed” to the same value as “ L°°High
speed”.
• The “P7e→Blow while escaping” variable can be set to true or false. If set to true, the robot will blow while moving from point P7 to P6 and the P8 will not
be reached. If is set to false, the robot will start to blow when it reached P7 and stop to blow when it starts to move to point P8. See the below diagram forfurther information.
.

P7e→Blow while escaping = False
P6

P7e→Blow while escaping = True
P6

P6

P6
Stop to blow

P7
P7

P7c→Wait before place
Start to blow

P7c→Wait before place

P7c→Wait after place

Start to blow

Stop blowing

P8

P7c→Wait after place

Figure 4-2 : Blow while escaping
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User Guide
Pick&Place cycle parameters© Copyright Asyril S.A.
Version : D2

5. Pick&Place cycle parameters
This program is generic for many cells configurations, many parameters may not exist in your program. Indeed, certain functionalities make sens only with a
specific mechanical configuration.

5.1.

Program parameters000.100.511

Name of parameter

Unit

Description

A°°slow_speed_[T/F]bool

Set if the robot moves with high speed or not.Set the robot to slow
speed (True) or normal speed (False)

B°°live_values_update_[T/F]bool

Set if the variables Px to Py can be changed during production cycle.

C°°tool_[n°]nbIdentification number of the tool being used.

D°°part_height_[mm]mmHeight of the part on the platform.

E°°part_length_out_of_tool_[mm]mmLength of the part that sticks out of the tool once picked.

F°°first_place_position_X_[mm]mmFirst place position in X.

G°°first_place_position_Y_[mm]mmFirst place position in Y.

H°°step_X_[mm]mmDistance between to place points in X.

I°°step_Y_[mm]mmDistance between to place points in Y.

J°°number_of_parts_X_[nb]nbNumber of parts that needs to be placed in X.

K°°number_of_parts_Y_[nb]nbNumber of parts that needs to be placed in Y.

L°°high_speed_[%]%Set the value of the high speed (100 % is the highest).

P1·b→pick_trajectory_height_[mm]mmHeight of the trajectory pick point (high speed movement).

P2·a→pick_approach_speed_[%]%Speed to go from P1 to P2.

P2·b→pick_approach_height_[mm]mmHeight of the pick approach.

P3·a→pick_speed_[%]%Speed to go from P2 to P3.
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Pick&Place cycle parameters© Copyright Asyril S.A.
Version : D2

P3·b→pick_height_[mm]mmHeight at which the part will be picked.

P3·c→wait_before_pick_[ms]msTime for the robot to stabilize before picking a part.

P3·d→wait_after_pick_[ms]msTime that the robot will wait after having picked the part.Time for the
robot to wait after picking a part.

P4·a→pick_vertical_escape_speed_[%]%Speed to go from P3 to P4.

P4·b→pick_vertical_escape_[mm]mmHeight of the vertical escape.

P5·b→place_trajectory_height_[mm]mmHeight of the trajectory place point (high speed movement).

P6·a→place_approach_speed_[%]%Speed to go from P5 to P6.

P6·b→place_approach_height_[mm]mmHeight of the place approach.

P7·a→place_speed_[%]%Speed to go from P6 to P7.

P7·b→place_height_[mm]mmHight at which the part will be place.

P7·c→wait_before_place_[ms]msTime for the robot to stabilize before placing a part.

P7·d→wait_after_place_[ms]msTime that the robot will wait after having placed the part.Time for the
robot to wait after the part is placed.

P7·e→blow_while_escaping_[T/F]bool

Set if the robot must keep blowing while reaching P6.

P8·a→place_lateral_escape_speed_[%]%Lateral escape speed, from P7 to P8.

P8·b→place_lateral_escape_distance_[mm]mmDistance in X direction for the lateral escape.

Table 5-1 : Program parameters000.100.511

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Pick&Place cycle parameters

5.2.

Version : D2

Placing tray parameters
6

4

5

N°

Name

Description

Example1F°°first_place_position_X_[mm]Position in X of the first part to place

8.8 mm2G°°first_place_position_Y_[mm]Position in Y of the first part to place.

8.8 mm3

H°°step_X_[mm]Distance between two positions in X.

1.8 mm

4I°°step_Y_[mm]Distance between two positions in Y.

1.8 mm5J°°number_of_parts_X_[nb]Maximum number of parts on one line in X.

206K°°number_of_parts_Y_[nb]Maximum number of parts on one line in Y.

20

3
1

2

5.2.1.1. Remarks and information• To work correctly with those parameters, the place frame has to be defined in mm unit and with the 0/0 reference of the tray in the corner as seen in theabove drawing.
• Offsets X and Y of the first position must be given with the right polarity, which must correspond to the frame axis.

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Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

6. Machine parameters – Calibration
6.1.

PX / mm Calibration

6.1.1. Aim
Create a relation between the pixel of the vision sensor and a metric system (mm).

6.1.2. Advantages
The system will work with a metric system. That means part model and exclusion zones will be
Millimeter based.
Vision Recipes are interchangeable between two machines (attention: illumination parameters
have sometimes to be adapted).
Optic defects (distortion) can be “corrected” – quality of results increases
The calibration of the Feeder will be done at the same time with the Pixel/Millimeter Calibration.

6.1.3. Disadvantages
The correction of the image will take some time. If the application is extrem time critical (eachms counts), then the usage of this calibration should be pondered.

6.1.4. When performing px/mm calibration
The pixel/millimeter calibration is a “one-shot” calibration, that means it must be executed
normally only once (once again if camera or optic have changed).
This calibration must be done before all others operations (calibration, teaching, ..) to ensure
correct behavior.

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Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

6.1.5. How performing px/mm calibration
A. Preparation:- Set calibration plate- Evaluate correct exposure time









Figure 6-1 : px / mm calibration

B. Calibration:
1. Select px / mm target
2. Set parameters
3. Calibrate
4. Verify result

Note:
Optimal value of RMS are close to 0, but real value depend on the use case. Absolute value
depends on the scale of the uncalibrated image, but error may come from nonlinear distortion(due to optics quality), quality of image (focus, contrast), size of tile (>15 pixels).

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Machine parameters – Calibration

6.2.

© Copyright Asyril S.A.
Version: D2

Calibration of the pick frame (asycube)

6.2.1. Aim
Create a relation between the robot/manipulator and the vision sensor
The robot system can be in any unit (increments, meter, frame, …)
After the calibration the result positions are given in the coordinate system of the robot

6.2.2. Facts
The vision system needs 4 points pairs (X,Y) to create a relation between vision coordinates androbot coordinates.
To calibrate the system a configured recipe is needed to detect correctly the targets

6.2.3. Options
It is possible to calibrate only one of the two frames by choosing in the Process – programmingtab. Don’t forget to Apply the changes

6.2.4. How performing process calibration

The main procedure is the following (automatic calibration):
1. Load the calibration recipe
2. Load the calibration tool
3. Place the calibration platform on the Asycube
4. Start the program
5. Verify the message at the end of the program execution.
Here below explains the detail of these steps as well as the manual robot frame teaching.

6.2.5. Vision
To calibrate the Asycube “Robot – Vision” system, respect the following steps:
Step 1000.100.511

Load the calibration tool onto the Robot

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Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

Load the calibration platform onto the
Asycube

𝟎
൬ ൰
𝟎

𝟎
൬ ൰
𝟏

𝟏
൬ ൰
𝟎

𝟏
൬ ൰
𝟏

For more information about theprocedure to change the platform,
please refer to the Asycube
Operating Manual

Step 2

Remove the hopper of the Asycube before
executing the calibration
Figure 6-2: Calibration platform

4
6
5
5
3

Figure 6-3: Calibration recipe: Loading the calibration recipe
Step 3

Click on the "Recipes" button

Step 4

Click on the "Home" tabStep 5Click on the "Select" button and choose the "Calibration_vX.X_camYMp.rec" recipe
NOTE:
This recipe, which is preconfigured by Asyril, is saved under D:\AsyrilData\Recipes

Step 6000.100.511

Click on the "Load" button
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Machine parameters – Calibration

Version: D2

The HMI state will change to "Working"
Step 7

Wait until the HMI state returns to "Ready"10
8

Figure 6-4: Vision-Calibration: Calibration success
IMPORTANT!
The calibration program can only work if Asycube frame has already been taught before. This
frame is taught by Asyril during setup of the module.
Step 8

Click on the start button to start the calibration

Step 9The robot will learn the calibration points and the camera will be calibrated

Step 10

Wait until the calibration procedure is complete. A message “Asycube calibration success” willappear.

Figure 6-5 : vision calibration: results of calibration
Step 11

Click on the "Vision" button

Step 12

Click on the « Acquire and process »Step 13

Step 14Check that the green circles
figure above

are correctly situated in the calibration holes as shown on the

Check that values correspond to the table. Theoretical values are following :Point 0

0

0

Point 1

1

0

Point 20

1

Point 3

1

1

If the values correspond to the theoretical values, the system is correctly calibrated.

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Asyfeed Module
User Guide
Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

6.2.6. Picking Robot frames
Step 1

Load the calibration tool onto the Robot

Step 2

Load the calibration plate onto the Asycube

𝟎
൬ ൰
𝟏

𝟎
൬ ൰
𝟎

𝟏
൬ ൰
𝟏

𝟏
൬ ൰
𝟎

Figure 6-6: Calibration plate

Step 3

Release the robot brakes using the HMI (shortcut screen)

3-

Figure 6-7: Procedure for releasing the brakes

Step 4

Move the robot to the 1st calibration point

Figure 6-8: Teaching of point 1

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User Guide
Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

-5
-5
-6
-7

-10
Figure 6-9: Robot-frames: Managing references and sub-references

Step 5Click on the "Robot" button on the HMI then on the "Frame" tabStep 6

Select the "Asycube" frame, "world" parent and "CalibToolTruncatedAsycube" tool.
NOTE:
The name of the frame and its identifier may vary depending on your specificapplication.

Step 7

Insert the current position of the robot in position 0 by clicking on the "Current" button
NOTE:
The colour of the text fields varies according to the proximity of the robot with the
input coordinates (in the parent frame and with the tool selected):
Proximity is defined by: 𝑷𝒓𝒐𝒙𝒊𝒎𝒊𝒕𝒚 = |𝑿𝒂𝒄𝒕,𝑭𝒓𝒂𝒎𝒆𝑨,𝑻𝒐𝒐𝒍_𝑩 − 𝑿𝒗𝒂𝒍𝒖𝒆 |The table below summarises the colour of the box according to proximity:
Between 0 and 10µm
Between 10 and 50µm
Between 50 and 100µm
Between 100 and 200µm
Between 200 and 500µm
Over 500µm

Step 8

Repeat steps 4 and 7 for each calibration point.

Step 9Click on the "save" button to apply the modifications

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Machine parameters – Calibration

6.3.

© Copyright Asyril S.A.
Version: D2

Calibration of the place frame

Step 1

Load the calibration tool.

Step 2

Place the calibration pallet on the 1st location of the rotating disk table (if any)

Step 3

With a rotating disk table: click on « _init_table ». This program initializes the rotating disk
table and turns it on position n°1.

Figure 6-10 : program for initialization of the rotating disk table
Step 4

Hold the robot with your hand, press on OFF and then on release the breaks.

Figure 6-11 : release the robot breaks
Step 5

Place the robot in the hole n°0

Figure 6-12 : teach the calibration points positions

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User Guide
Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

6.

7.

8.
6.

9.
Figure 6-13 : Place frame teaching
Step 6

Select the desired frame and the corresponding tool

Step 7

Insert the robot position in the point id. (if the robot is located in hole n°0, teach the position
ID 0 by clicking on « current »)Step 8Do again step 7 for holes 1, 2 and 3

Step 9Press on « save » to learn and save the frames (this action can only be done when the
robot is in state OFF)

Step 10

Place the robot in a safe position, click on « release breaks »Step 11

With a rotating disk table: click on the program allowing to go to the next positon (_table36 inthis example).

Figure 6-14 : Select the next rotating disk table position
Step 12

Place the calibration pallet on the next position

Step 13

Do again the same operations than before with the corresponding frame ID.

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Asyfeed Module
User Guide© Copyright Asyril S.A.

Machine parameters – Calibration

6.4.

Version: D2

Calibration of the tool changing frame

Step 1

Load manually the calibration tool

Step 2

Release the robot breaks and place the robot in the 1st hole of the tool changer (seepicture)Figure 6-15 : Teach the calibration points on the tool changer

3.
5.

5.
4.

6.
Figure 6-16 : Tool changer frame teaching
Step 3Choose the frame « changeur d’outil / tool changer »Step 4

Select the corresponding tool (« world » or « calibration tool changer »)Step 5Teach the 3 points by placing the robot in position and press on « current » for each of them

Step 6

Save the frame

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Machine parameters – Calibration

6.5.

© Copyright Asyril S.A.
Version: D2

Tool calibration

Step 1Press on IDLE (the robot needs to initialized once before calibrating)

Step 2

Hold the robot with your hand, press on OFF and then on release the breaks. Place the tool
holder on a flat and rigid surface.
WARNING
The tool holder and NOT the pin must touch the flat surface.

Figure 6-17 : changing the robot state (OFF, IDLE)

Figure 6-18 : tool holder (without tool) on a flat rigid surface
Step 3On the Robot tab -> tools: press on « World » and then « + ».

Step 4Fill in the following parameters: ID / Name / Parent with the corresponding information to thecalibrated tool (« Parent » takes always the parameter « world » unless specified by Asyril)

Step 5Press on « current » on the line « without tool»

Figure 6-19 : tool creation and parameterization; teaching of the “without tool” length
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Version: D2

Step 6

Load the tool to calibrate and place then the robot (with tool) on the same surface.

Step 7

Press on « current » on the line « with tool»

Step 8Press on « calculate » and then replace the values « x » and « y » by « 0 »WARNING
Nonzero values in « x » and « y » will define a lateral offset of the tool.

Step 9Press on « save »Figure 6-20 : tool holder « with tool » on the flat surface

Figure 6-21 : teaching of the « with tool » length and calibration of the tool

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User Guide
Machine parameters – Calibration© Copyright Asyril S.A.
Version: D2

6.5.1. Definition of the tools
By convention, the calibration tool has the ID 90 and the « truncated » calibration tools have thefollowing IDs. The definition of the truncated calibration tools is necessary to calibrate the frameswith the correct height: the 0-plane must fit the pick / place surface height.

Figure 6-22 : teaching the length of the calibration and of the truncated calibration tools.

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User Guide
Revision table© Copyright Asyril S.A.
Version: D2

Revision table
Rev.

Date

AuthorComments

A2

15.10.2013

HsJ

Initial version

B

30.11.2015

DaM

Add calibration chapter, tool changing and introduction.

B1

15.01.2016

MaL

Standardization of variable names.

C

24.06.2016

MaL

Add pick and place block diagram chapter, add some
informations for the calibration px / mm and processD

25.07.2017

DaM

Modification for robot/Asycube 50 calibration platform

D1

06.04.2018

HsJ

Update for new Asyview v4.0.2

D2

26.02.2020

ScL

Modification to fit the new pick and place standard recipe.

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Asyfeed Module
User Guide
Revision table© Copyright Asyril S.A.
Version: D2

This document is the property of Asyril S.A.; it may not be reproduced, modified or communicated, inwhole or in part, without our prior written authorization. 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 22
Ch-1690 Villaz-St-Pierre
Switzerland
Tel. +41 26 653 71 90
Fax +41 26 653 71 91
info@asyril.com
www.asyril.com

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