Asyfeed Module
Operating manual

Document

Asyril_ MODULE_ASYFEED_Operating_Manual_EN
000.100.512

VersionC

Date

05.04.2018

Asyfeed Module
Operating manual
Table of Contents© Copyright Asyril S.A.
Version: C

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

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

GENERAL INFORMATION ........................................................................................................... 4

1.2.

SAFETY PRECAUTIONS ............................................................................................................. 5

1.2.1. General safety precaution ................................................................................................... 5
1.2.2. Specific warnings .................................................................................................................. 6

2.

1.3.

W ARRANTY INFORMATION ........................................................................................................ 6

1.4.

CE INFORMATION ..................................................................................................................... 7

DESCRIPTION .................................................................................................................................. 8
2.1.

OVERVIEW OF THE PRODUCT ................................................................................................... 8

2.1.1. Asycube ................................................................................................................................. 9
2.1.2. PocketDelta robot ................................................................................................................. 92.2.

GENERAL CHARACTERISTICS ................................................................................................. 10

2.2.1. Technical features .............................................................................................................. 10
2.2.2. Overall dimensions ............................................................................................................. 11
2.2.3. Workspace ........................................................................................................................... 122.2.4. Vision system performance ............................................................................................... 14
2.3.

ELECTRICAL INTERFACES ....................................................................................................... 16

2.3.1. Overview .............................................................................................................................. 16
2.3.2. Connecting the Asyfeed Pocket Module ......................................................................... 16
2.3.3. Flow ...................................................................................................................................... 18
2.3.4. OUT4 digital output ............................................................................................................ 19
2.3.5. IN1 and IN4 digital inputs .................................................................................................. 19
2.3.6. Power connection (C) ........................................................................................................ 20
2.3.7. RJ 45 connector .................................................................................................................. 21
2.3.8. Control unit .......................................................................................................................... 22
2.4.

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

2.4.1. Pneumatic connection........................................................................................................ 23
2.4.2. Compressed air characteristics ........................................................................................ 23
2.4.3. Vacuum and air flow ........................................................................................................... 24
2.5.

MECHANICAL INTERFACES ..................................................................................................... 25

2.5.1. Mounting the Asyfeed Pocket Module ............................................................................. 25
2.5.2. Control unit .......................................................................................................................... 25
2.5.3. Tooling.................................................................................................................................. 26
2.6.

ACCESSORIES AND OPTIONAL MODULES ............................................................................... 27

2.6.1. Robot calibration tool ......................................................................................................... 27
2.6.2. Calibration plate (for Asycube) ......................................................................................... 28000.100.512

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Operating manual
Table of Contents© Copyright Asyril S.A.
Version: C

2.6.3. Ioniser ................................................................................................................................... 29
2.6.4. Input/output extension module ......................................................................................... 29
3.

TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 31
3.1.

PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 31

3.2.

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

3.2.1. Installation environment ..................................................................................................... 31
3.2.2. Storage environment .......................................................................................................... 32
4.

MAINTENANCE AND REPAIR .................................................................................................... 33
4.1.

SAFETY PRECAUTIONS ........................................................................................................... 33

4.1.1. General safety precautions ............................................................................................... 33
4.2.

PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPAIR................................................... 33

4.3.

MAINTENANCE ........................................................................................................................ 34

4.3.1. Periodic maintenance schedule ....................................................................................... 34
4.3.2. General maintenance ......................................................................................................... 35
4.3.3. PocketDelta robot maintenance ....................................................................................... 35
4.4.

REPAIRS ................................................................................................................................. 37

4.5.

TECHNICAL SUPPORT ............................................................................................................. 38

4.5.1. For better service … ........................................................................................................... 38
4.5.2. Contact ................................................................................................................................. 38
REVISION TABLE ..................................................................................................................................... 39000.100.512

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Asyfeed Module
Operating manual
Introduction

1.

Introduction

1.1.

General information© Copyright Asyril S.A.
Version: C

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 noticefor the purpose of product improvement. Please read this document carefully before
operating your product, to ensure it is used correctly. Should you encounter any difficulties
when using the product or carrying out maintenance, please 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 this instruction may result in serious physical injury.
DANGER!
Failure to observe this instruction may result in electrocution or serious injury due toelectric shock
WARNING!
Failure to observe this instruction may result in serious injury or property damage.
NOTE:
The reader's attention is drawn to this point in order to ensure that the product is usedcorrectly. However, failure to respect this instruction does not pose a danger.
REFER TO…
For more information on a specific subject, the reader should read another manual, or refer
to another paragraph.
WARNING!
Under no circumstances may Asyril be held liable for any loss or damage arising from a
failure to observe the instructions contained in the “Safety Precautions”. The customer is
responsible for ensuring the necessary instructions are passed on to all persons concerned.
NOTE:
All dimensions in this document are expressed in millimetres000.100.512

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Asyfeed Module
Operating manual
Introduction

1.2.

© Copyright Asyril S.A.
Version: C

Safety precautions

1.2.1. General safety precaution
1.2.1.1. Transport
DANGER!
Be aware of the weight and take care when transporting the system. For more
information, please refer to chapter 3 “Transportation, handling and installation”

1.2.1.2. General information
DANGER!
Make sure that the power supply is switched off before working on the product.
DANGER!
Only qualified personnel (trained by Asyril and with the relevant professional
experience) are authorised to work on this device.
DANGER!
Do not unscrew the system's electrical boxes or protective covers. Only authorised
Asyril SA personnel are allowed to access these parts of the system for maintenanceor for repair.
DANGER!
Do not plug or unplug the system's cables when the system is switched on.
DANGER!
Never modify the product. Unauthorised modifications may cause the product tomalfunction.
DANGER!
Do not use the product in a place where the main unit or control unit may come incontact with water or oil droplets.

1.2.1.3. Disposal
When the product reaches the end of its service life, it must disposed of in accordance withregulations concerning industrial waste.
NOTE:
All applicable laws, regulations, and standards must be observed when disposing of the
product.

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Asyfeed Module
Operating manual
Introduction© Copyright Asyril S.A.
Version: C

1.2.2. Specific warnings
1.2.2.1. Safety equipment for operators
For safety reasons, operators must wear the following safety equipment when they are
working with the robot or within the robot workspace:-

Safety glasses when using the Asycube backlight

NOTE:
It is the customer’s responsibility to install warning signs indicating that anyone working
around the Asyfeed Pocket Module must wear safety equipment.

1.3.

Warranty information
You will find all warranty information (scope, term, etc.) under the general terms of sale.

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Introduction

1.4.

© Copyright Asyril S.A.
Version: C

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

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Asyfeed Module
Operating manual
Description

Version: C

2.

Description

2.1.

Overview of the productThe© Copyright Asyril S.A.

AsyfeedPocketModulecomprises a flexible feeder system(Asycube), a vision system to locate
the parts, and a PocketDelta robot tohandle them.

(A)

Asycube(B)

Camera(C)

PocketDelta robot(D)Electrical box(E)

DOAL (Diffused On Axis Light)(F)

Connections for the Asyfeed Pocket

(D)

(C)

(B)

(E)
(F)

(A)

Module(G)

Tool changer(G)

The Asyfeed Pocket Module also

Figure 2-1: Asyfeed Pocket Module

includes a control unit (PC):(H)(H)

Control unit (Asyview)

For more information on connecting
the

PC

to

the

AsyfeedPocketModule, see section "2.3 Electricalinterfaces" , page 16.
Figure 2-2: Control unit (Asyview)000.100.512

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Asyfeed Module
Operating manual
Description© Copyright Asyril S.A.
Version: C

2.1.1. Asycube
The Asycube sets a new standard in feeding miniature parts. Its 3D vibratory platform allows
fast and flexible presentation of miniature parts (0.2 mm to 5 mm) to a robot equipped with avision system. It consists of:(A)

A 3D platform with integrated
backlight(B)

A removable hopper where the

(A)
(B)

components are stored(C)

Electrical interfaces.

(C)

Figure 2-3: Asycube feeder system overview

2.1.2. PocketDelta robot
The PocketDelta has parallel kinematics giving 3 degrees of free movement. The
PocketDelta robot consists of:(A)

Control box(B)Electrical interfaces(C)

3 motors(B)(D)

Front arms

(C)

(E)

Platform(F)

Workspace

(A)

(D)
(E)
(F)

Figure 2-4: PocketDelta robot overview

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Asyfeed Module
Operating manual
Description

2.2.

© Copyright Asyril S.A.
Version: C

General characteristics
WARNING!
Do not use the product outside the given specifications. It is particularly crucial that the
maximum loading capacity is observed. Failure to follow this instruction will invalidate thewarranty.

2.2.1. Technical features

Asyfeed Pocket Module
Feed system

AsycubeRobot type

PocketDelta robot

Rate

100 cycles/min

Placing precision± 0.01 mm

Handled part size

0.15 to 5 mm

Maximum force

2N

Handled parts materials

Metal, ruby, ceramics, glass,semiconductor components

Tool changer
Recognition of component
position and orientation
Sound level
Flexibility< 60dBA
Adaptable to the customer’s
process

Easy configuration of newrecipes000.100.512

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Operating manual
Description© Copyright Asyril S.A.
Version: C

2.2.2. Overall dimensions

Figure 2-5: Overall dimensions (in millimetres)
Characteristic

Value

Footprint

330 x 490 mm

Weight28 kg

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Operating manual
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Version: C

2.2.3. Workspace

Figure 2-6: Workspace defined by the platform’s midplane
The customer’s process must take place within the limits of the robot workspace.

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

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Operating manual
Description© Copyright Asyril S.A.
Version: C

IMPORTANT NOTE FOR INTEGRATIONThis workspace is defined by the space accessible via the midplane of the robot's tool holder
as shown in the images below. When a tool is mounted on the tool holder, the workspace willbe translated down as much as the length of the tool holder and the tool (D+9.5). The
following example illustrates this phenomenon:
Tool holder in fully raised position:

Robot's tool holder

Workspace

Tool holder in fully lowered position:

Tool holder in fully radial position:

9.5

Figure 2-7: position of the tool holder in the workspace000.100.512

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Operating manual
Description© Copyright Asyril S.A.
Version: C

2.2.4. Vision system performance
2.2.4.1. Lighting
The Asyfeed Pocket Module includes green, red, white or blue frontal lighting (DOAL), as wellas the Asycube's integrated backlight.

2.2.4.2. Detection limit
Two situations enable the detection limit to be defined:-

You want to locate a precise detail (e.g. location of a part on the surface of the
Asycube, or quality control of the position of a hole on a part); in this case, details
must be larger than 20 pixels to ensure accuracy of a quarter pixel.

-

You want to verify the presence or absence of a detail (e.g. pitch and toss
recognition) in this case, a size of 10 pixels is sufficient.

Conversion of pixels into millimetres depends on the field of view and on the resolution of thecamera. The table below gives the minimum size of the detail in micrometres:

width

lengthwidth

lengthMinimum
detail sizein pixels

px

px

mm

mm

px

µm

20
10
1
20
10
1
20
10
1

575
288
29
376
188
19
245
123
12

sensor size
Configuration

field of view

Resolution
Mpx

Standard
resolution

2

1200

1600

35

46

High resolution

5

2050

2448

35

46

Reduced field of
view

5

2050

2448

25

30

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Minimum
detail size in
micrometres

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Asyfeed Module
Operating manual© Copyright Asyril S.A.

Description

Version: C

This table summarises the minimum size of part or detail to be located or detected:
Part size[pixels]

P < 20 px

P > 20 px

Detail size
[pixels]PP

D < 10 px

10 px < D < 20 px

D > 20 px

P

PP

ExampleD

D

D

Location of
the part¼ px
accuracy¼ px accuracy¼ px accuracy¼ px accuracy

Detaildetection
Detail location¼ px accuracy

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Asyfeed Module
Operating manual
Description

2.3.

© Copyright Asyril S.A.
Version: C

Electrical interfaces

2.3.1. Overview
Theelectricalinterfaces

for

the

(A)

Asyfeed Pocket Module are situatedon the right.
(B)(A) Ioniser cable outlet (supplied
mounted if the option is ordered)(B) Digital input/output(C)(C) Power connection(D) RJ 45 connector (x3)(D)

Figure 2-8: Electrical interfaces to the Asyfeed
Pocket Module

2.3.2. Connecting the Asyfeed Pocket Module
The Asyfeed Pocket Module is fully cabled prior to shipping (PocketDelta robot, Asycube,
lighting, camera, etc.), however, the next section describes the electrical interfaces to the
PocketDelta robot and the Asycube.
For more detailed information on the interfaces to the PocketDelta robot or the Asycube,refer to the Operating Manual for the product in question.

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The© Copyright Asyril S.A.
Version: C

electricalinterfaces

to

the

Asycube are:

(A)(A) Power connection(B) Ethernet connection (RJ45)(B)(C) Backlight synchronisation(C)

Figure 2-9: Electrical interfaces to the Asycube

Theelectricalinterfaces

to

the

PocketDelta robot are:(D) Power connection(E) Main stop switch(F) Input/output connection

(D)

(F)

(E)

(G)

(G) Ethernet connector(H) Robot platform(H)

Figure 2-10: Electrical interfaces to the
PocketDelta robot

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Version: C

2.3.3. Flow

A standard M8 three-pole female
cable

is

used

to

connect

theintegrated flow meter (±1 l/min, 1-5
VDC signal). This cable must be

(1)

(3)

(4)

connected as follows:

Pin

WaveformWirecolour(1)

24 VDC supply

BN

(3)

0 VDC supply

BU

(4)

1-5 VDC signal

BK

(9)

Connector type (Asycube side):M8, 3 poles, male
The cable can be supplied as an
optionFigure 2-11: Flow connector

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2.3.4.

Pin© Copyright Asyril S.A.
Version: C

OUT4 digital output

WaveformWirecolour(1)

24 VDC supply

BN

(3)

0 VDC supply

BU

(4)

24VDC signal

BK

(1)

(3)
(4)

(9)

Max. current = 0.5 A

Connector type (Asycube side):M8, 3 poles, female
The cable can be supplied as an
optionFigure 2-12: OUT4 connector

2.3.5.

Pin

IN1 and IN4 digital inputs

WaveformWirecolour(1)

24 VDC supply

BN

(3)

0 VDC supply

BU

(4)

24VDC signal

BK

(1)

(3)
(4)

(9)
Connector type (Asycube side):M8, 3 poles, female
The cable can be supplied as an
optionFigure 2-13: IN1 and IN4 connector
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Version: C

2.3.6. Power connection (C)The

AsyfeedPocketModuleispowered by 24VDC/10 A.
Pin

Signal description

Current

(1)
(7)

(2)
(3)

(A)
(1)

24 VDC_1(2)

0 VDC_1(3)

24 VDC_2(4)0 VDC_2(5)

S-24 VDC(6)

S-0 VDC

(7)

PE

(6)

(4)
(5)

5

5

2

-

The 7 poles must be supplied with power toenable the system to operate.
Poles (5) and (6) (safe supply) can be
integrated in the machine's safety circuit toensure safe shutdown of the module's
potentially dangerous components (Asycube
lighting, tool changer, robot).

Figure 2-14: Power connection

Connector type (Asycube side):M16, 7 poles, male

WARNING!
-

Before supplying power to the product, check that your voltage distribution is the sameas the nominal voltage of the Asyfeed Pocket Module.

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Operating manual
Description© Copyright Asyril S.A.
Version: C

2.3.7. RJ 45 connector

Figure 2-15: Ethernet connection of the main components

NOTE:
The I/O extension module is an optional component, see section 2.6.4

The three RJ 45 connections enablecommunication with:

(A)

(A)

(B)

(C)

The camera

NOTE:
The camera must be connectedusing a category 6 Ethernet cable.

(B)

The Asycube(C)

The PocketDelta robot
Figure 2-16: RJ 45 connection000.100.512

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Operating manual
Description© Copyright Asyril S.A.
Version: C

2.3.8. Control unit
The electrical interfaces to the control(A)

unit are:(A)

Remote Ethernet connection(B)

Process (robot) Ethernet connection(C)

Asycube Ethernet connection(D)

Camera 1 Ethernet connection(E)

Camera 2 Ethernet connection(F)

Camera 3 Ethernet connection(G)

USBs connection for keyboard or

(B)

(G)

(H)

(C)

(D)

(E)

(F)

mouse
(H)

Power supply
Figure 2-17: Electrical interfaces to the control
unit

2.3.8.1. PowerThe connector provided must be connected to a power supply (not supplied by Asyril) withthe following characteristics:
Characteristics

Value

Voltage

24VDC

Power

75 W

Table 2-1: Control unit power supply
2.3.8.2. Connection to the Human-Machine interface (HMI)
The graphic interface is installed on the control unit. A keyboard, mouse and screen (suppliedby the customer) are necessary for interaction and can be connected to the control unit via
the USB, VGA or DVI interfaces.
The screen must have the following minimum characteristics:

Characteristic

Value

Resolution

1280 x 1024

Table 2-2: optimal resolution for the HMI screen

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Operating manual
Description

2.4.

© Copyright Asyril S.A.
Version: C

Pneumatic interfaces

2.4.1. Pneumatic connection(A)

The pneumatic connection of the
AsyfeedModule

has

one

quick

connector:(A)

Tool changer and venturi connection

connector

NominalDiameterpressure
A

6 Bar

6 mm

Average consumption: 10 l/min

NOTE:
The

customer

installingaisresponsiblepressureformonitoring

system for maintenance and control

Figure 2-18: Pneumatic connection

purposes.

2.4.2. Compressed air characteristics
To ensure the pneumatic interface provides the best possible performance, observe thefollowing parameters:

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Characteristic

Value

Nominal filtration rating< 5 µmRecommended lubricant

No lubrication

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Operating manual
Description© Copyright Asyril S.A.
Version: C

2.4.3. Vacuum and air flow

Characteristic

Value

Vacuum level-0.8 bar

Suction capacity

1 l/min

Airflow rate (factory settings)

0.5 l/min

The suction capacity can be adjusted withthe “Vacuum” screw
Clockwise = reduce suction capacity

The airflow rate can be adjusted withthe “Blow” screw
Clockwise = reduce airflow

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Description

2.5.

© Copyright Asyril S.A.
Version: C

Mechanical interfaces

2.5.1. Mounting the Asyfeed Pocket Module
Install the Asyfeed Pocket Module on a smooth, flat and solid surface. It must be secured using four
M6x20 bolts.

Figure 2-19: Mounting the Asyfeed Pocket Module

2.5.2. Control unit
The control unit is fixed to two rails, and the dimensions are indicated in Figure 2-20.

Figure 2-20: Dimension of the control unit and mounting rails

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Version: C

2.5.3. Tooling
Tools and grippers are not supplied with the robot. Their design depends on the applicationand has to be adapted specifically. Tools and grippers can be attached to the robot’s
platform.

Free geometry(depending on thecomponent being
handled)Figure 2-21: Example of a standard tool (with free geometry based on the component)
NOTE:
To ensure the best possible performance, note that the length of the tool must be the sameas the calibration tool length.

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Description

2.6.

© Copyright Asyril S.A.
Version: C

Accessories and optional modules

2.6.1. Robot calibration tool
The calibration tool may vary according to the type of application (whether or not a control
camera is used, size of the holes in the calibration plate, etc.). The grey column below
corresponds to the standard tool delivered with your equipment.

11.2
11.2

11.2

Ø1.5

Ø2

Ø2

Ø1.5

Ø1.5

Ø1.1

Perfectly suited for a control

Perfectly suited for a control

Perfectly suited for a control

camera with front light lighting.

camera with dark field lighting.

camera with front light lighting.

Perfectly suited for calibrating

Perfectly suited for calibrating

Perfectly suited for calibrating

holes of Ø1.1 mm.

holes of Ø1.5 mm.

holes of Ø1.5 mm.

Figure 2-22: Available calibration tools
NOTE:
For more information on the available calibration tools, please contact Asyril.

For more information about the calibration procedure, refer to the User Guide.

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Version: C

2.6.2. Calibration plate (for Asycube)

A specific calibration plate can bedelivered as an option with yourequipment.

Thefollowingdrawing

gives

the

positioning of the holes used tocalibrate the robot on the Asycube.
Figure 2-23: Asycube calibration plate

Figure 2-24: Detail of the position of holes in the calibration plate.
For more information about the calibration procedure, refer to the HMI manual.

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Version: C

2.6.3. Ioniser
The ioniser makes it possible for the air molecules to carry charges. The ioniser module's roleis therefore to neutralise the electrostatic charges that can cause the components to stick to
the plate.

If the option was purchased, the ioniser is supplied with the unit, wired, mounted and ready to
be used.

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

2.6.4. Input/output extension module
The input/output extension module is available as an option.
It can be configured by combining the following types of board:- Digital, PNP or NPN I/Os
- Analogue I/O, 4-20 mA

Example of input/output module

For more information concerning the boards available and their connection, refer to the wiring
diagram for the input/output extension module, supplied with the Asyfeed Pocket Module

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Operating manual
Description-© Copyright Asyril S.A.
Version: C

DimensionsA

150 mmB

5.5 mmC

Depends on the chosen configuration

D

180 mmE

DIN 35 rail

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Asyfeed Module
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Transportation, handling and installation© Copyright Asyril S.A.
Version: C

3.

Transportation, handling and installation

3.1.

Packaging of the product, transportation and handling
The product must be transported in accordance with the specific instructions indicated on the
package (top, bottom and fragile, etc.). The following instructions must also be observed:
WARNING!
-Be aware of the weight and take all necessary precautions when transporting thesystem.

-The operator should try to carry heavy shipping boxes unaided.

-

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

-

Do not climb on the shipping box.

-

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

-

Take care to ensure the system is not damaged during handling

The Asycube Pocket Module is shipped on a wooden pallet and the entire system isprotected with a plastic film wrap. It must be handled with care using a forklift or a pallet truck.

Value
Dimensions

490*328*372 mm

Total weight

28 kg

Table 3-1: gross weight and dimensions of the packaged product3.2.

Installation and storage environment
WARNING!
The Asyfeed Pocket Module must be installed on a smooth, flat and solid surface.
Make sure that the Asyfeed Pocket Module is not exposed to excessive vibrations or
flex. Failure to do so could adversely affect the Asyfeed Pocket Module’s performance.

3.2.1. Installation environment
The Asyfeed Pocket Module can be used under following conditions:-

Working temperature: +5°C to +40°C-

Humidity: 30% to 95% max. non-condensing
WARNING!
note that variations in temperature may affect the precision of the robot, especially if therequired level of precision is less than 10 microns

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Transportation, handling and installation© Copyright Asyril S.A.
Version: C

WARNING!
The customer is responsible for installing equipment to protect the Asyfeed Pocket
Module from dust and excessive light levels.
WARNING!
Please note that very high levels of humidity may affect the overall performance of the
Asyfeed Pocket Module. In addition, if the humidity level is below 30% electrostaticforces may disrupt the behaviour of the components.
-

Avoid using the product in an area where the machine and/or its control unit may be exposed
to water or oil droplets.

-

Clean room application: cleanliness class ISO7 and ISO8WARNING!
Do not use the product in atmospheres containing corrosive gas, as this could cause
oxidation and damage some of the product's components.

3.2.2. Storage environment
The storage environment should be similar to the operating environment. The Asyfeed
Pocket Module should also be protected against dust during storage.
NOTE:
After a period of inactivity, the robot may require recalibration.
For more information on the calibration procedure, please refer to the programming manual.

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Maintenance and repair

4.

Maintenance and repair

4.1.

Safety precautions© Copyright Asyril S.A.
Version: C

4.1.1. General safety precautions
WARNING!
The product does not contain any parts which may be repaired by the user. Contact a
supplier to have maintenance carried out. Failure to follow this instruction will invalidate
the warranty.
DANGER!
Disconnect the power supply before any maintenance work.
DANGER!
Do not wash the product with water. Failure to follow this instruction could resultin malfunctions or short circuits, etc.

4.2.

Personnel responsible for maintenance or repair
Maintenance operations must be performed by persons who have received training on thesystem. Three categories of personnel are defined for this purpose:(A)

Maintenance technician without any specific training from Asyril(B)

Maintenance technician with specific training from Asyril(C)

Technician from Asyril customer service

Ensure that the person who is performing maintenance has received and read this manual,and has the necessary skills to be able to work according to the instructions given in thefollowing sections. All personnel must observe the safety precautions given in this manual.
NOTE:
A report will be issued for all maintenance performed by Asyril.
For more information on our maintenance service, please call Asyril customer service.

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4.3.

© Copyright Asyril S.A.
Version: C

Maintenance
NOTE:
The information given in "Table 4-1: Periodic maintenance schedule" is only to be used
as a guide. Maintenance and frequency must be adapted by the operator according to
the customer's specific process, the operating environment and the workload.

4.3.1. Periodic maintenance schedule
Our robots generally operate without the need for maintenance. However, basic inspections
should be carried out at regular intervals to optimise performance and ensure that the productoperates safely.
Item

GeneralPeriodCleaning of the machine

information
Tool

Personnel

WeeklyA

WeeklyB

WeeklyA

Annually

B

Annually

B

WeeklyA

AnnuallyC

Reference

4.3.2.1

Visual inspection of the tools (check thecondition) Change any nozzles in poor
condition
Cleaning of the tool’s drill holes.

OpticalVisual check of the optical parts and, if

parts

necessary, cleaning and calibration of thevision system

Pneumatics

Replacement of the air filter, if necessary

AsycubeVisual check and cleaning of the hopperand plate

Robot

Visual check, cleaning and lubrication thearticulations of the parallel structure(including the moving plate and its

Contact
Asyrilcompliance)
Cleaning of the robot

AnnuallyB

4.3.3.1

Table 4-1: Periodic maintenance schedule

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Maintenance and repair© Copyright Asyril S.A.
Version: C

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

4.3.2. General maintenance4.3.2.1. Cleaning of the machine
Material needed:
-

Cloth

-

isopropanol alcohol

Clean all the exterior surfaces of the
Asyfeed Pocket Module (baseplate,chassis, etc.)

Figure 4-1: Cleaning of the machine

4.3.3. PocketDelta robot maintenance4.3.3.1. Cleaning robot
Material needed:

Step 1-

Lint-free cloth-

isopropanol alcohol-

Vacuum cleaner(A)

Clean all exterior surfaces of therobot. Pay specific attention to thefront arms (B)Step 2

Use the vacuum cleaner to remove
dust accumulated in the filter (A)(B)

Figure 4-2: Cleaning the PocketDelta robot

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Version: C

4.3.3.2. Checking the parallel structure
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact Asyril customer service.
-

Clean and lubricate the joints of the parallel structure-

Check the wear of the arms-

Check the clearance of the robot plate

4.3.3.3. Checking the motor assembly
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact Asyril customer service.
-

Check the motor-

Check the brakes

4.3.3.4. Inspection of the control box
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact Asyril customer service.
-

Clean the air filter

4.3.3.5. Check of the actuators and audit of system behaviour
NOTE:
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact Asyril customer service.

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Maintenance and repair

4.4.

© Copyright Asyril S.A.
Version: CRepairs
Any repairs will require the product to be returned to Asyril. Subject to formal agreement by
Asyril S.A. this work may be performed at the customer’s site by trained personnel as definedin section 4.2.
WARNING!
For all repairs, use original factory replacement parts.
The list of replacement parts is available on request

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Maintenance and repair© Copyright Asyril S.A.
Version: C

IMPORTANT NOTE:
For more information on the replaceable parts of your PocketDelta robot, please refer tothe "repair" section of your PocketDelta robot Operating Manual

4.5.

Technical support

4.5.1. For better service …
Before calling the support service, note the following information for your system:-

serial number and product key for your equipment-

software version-

alarm or error message displayed on the screen

4.5.2. Contact
A wealth of information is available on our website: www.asyril.com
You can also contact us by mail or call our support service:support@asyril.com+41 26 653 7190

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Revision table© Copyright Asyril S.A.
Version: C

Revision table
Rev.

Date

AuthorComments

A

20.09.2011

SiA

Initial version

A1

19.10.2012

SiA

Updating of replacement parts list
Modification of Asycube maintenance (internal cleaning)

A2

16.01.2014

SiA

Updating of change from 1 Lanner PC to 1 Arbor PC (images,legends, parts list)

A3

24.02.2015

SiA

Update following product modification (1 pneumatic pass,
mounting interface modification, modification of replacement
parts list)

A4

27.11.2015

DaM

Update following PM-140211-1

A5

11.08.2016

DaM

Updating of product names and documentation, other docs,
connector numbering, PC power supply

B

1.12.2016

BeJ

Modification following redesign of the module and integrationof the Asycube 50

B1

30.01.2017

BeJ

Addition of section 2.6.4

B2

20.09.2017

BeJ

Addition of section 2.4.3

C

05.04.2018

HsJ

Update for new computer

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Revision table© Copyright Asyril S.A.
Version: C

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
info@asyril.com
www.asyril.com

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