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Asycube CC-Link
Gateway
User Guide
Document
Asyril_ASYCUBE_CC-LINK_GATEWAY_User_Guide_EN
000.103.256
Version A Date 14.10.2019
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
2/21
Table of Contents
1. INTRODUCTION .................................................................................................................................. 4
1.1. GENERALITIES ...................................................................................................................................... 4
2. ASYCUBE CC-LINK GATEWAY QUICKSTART ........................................................................... 5
2.1. COMMUNICATION IN PRODUCTION ....................................................................................................... 5
2.2. ASYCUBE GATEWAY POWER SUPPLY .................................................................................................. 5
2.3. ASYCUBE OFFLINE CONFIGURATION (NOT CONNECTED TO THE GATEWAY) ....................................... 5
3. USER GUIDE INTRODUCTION ........................................................................................................ 6
3.1. ASYCUBE FEEDER ................................................................................................................................ 6
3.2. GATEWAY ............................................................................................................................................. 6
4. CONNECT THE ASYCUBE GATEWAY .......................................................................................... 7
4.1. PREPARATION ...................................................................................................................................... 7
4.2. CONNECT THE GATEWAY POWER SUPPLY ........................................................................................... 7
4.3. CONNECT THE GATEWAY TO THE ASYCUBE FEEDER........................................................................... 7
4.4. CONNECT THE GATEWAY TO THE MACHINE CONTROLLER ................................................................... 8
4.5. POWER ON .......................................................................................................................................... 8
5. COMMISSIONING AND INTEGRATION ......................................................................................... 9
5.1. GENERAL PRINCIPLES .......................................................................................................................... 9
5.1.1. Import the fieldbus device description file ................................................................................... 9
5.1.2. Add the Gateway in the configuration .......................................................................................... 9
5.1.3. Program and run the application .................................................................................................. 9
5.2. EXAMPLE FOR CC-LINK ON MITSUBISHI MELSEC-Q SERIES ......................................................... 11
5.2.1. Setting CC-Link communication conditions with a PLC editor software to use the gateway
12
5.2.2. CC-Link Parameter step 1 ........................................................................................................... 12
5.2.3. CC-Link Parameter step 2 ........................................................................................................... 13
5.2.4. CC-Link Parameter step 3 ........................................................................................................... 13
5.2.5. Example: CC-Link - Modbus TCP Memory Map ...................................................................... 14
6. TROUBLESHOOTING ...................................................................................................................... 15
6.1. MODIFY THE STATION ADDRESS ....................................................................................................... 15
6.2. MODIFY THE BAUD RATE (SPEED) ..................................................................................................... 15
6.3. THE APL LED BLINKS TWICE RED EVERY 3 SECONDS ....................................................................... 18
6.4. THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND .......................................... 18
7. TECHNICAL SUPPORT ................................................................................................................... 19
7.1. FOR BETTER SERVICE … ................................................................................................................... 19
7.2. CONTACT ............................................................................................................................................ 19
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
3/21
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
4/21
1. Introduction
1.1. Generalities
The following document is the property of Asyril S.A. and may not be copied or circulated
without permission. The information contained in this document is subject to change without
notice for the purpose of product improvement. Before operating your product, please read this
document in order to ensure a correct use of the product. Nevertheless, if you meet difficulties
during the operation or the maintenance, please, feel free to contact Asyril customer service.
In this manual, the safety precautions that you must respect are classified as: “Danger”,
“Warning” and “Note”; the following symbols are used:
DANGER!
Failure to observe the instruction may result in death or serious injury.
DANGER!
Failure to observe the instruction may result in electrocution or serious injury due to
electric shock
WARNING!
Failure to observe the instruction may result in injury or property damage.
NOTE:
The user should read carefully this information to ensure the correct use of the product,
although failure to do so would not result in injury.
Refer to …
For more information on a specific subject, the reader should read other manual, or refer to
other paragraph.
WARNING!
Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe
the items specified in “Safety Precautions” of the OPERATING MANUAL. The customer is
responsible to provide the necessary instruction to the persons concerned.
NOTE:
All dimensions in this document are expressed in millimeters
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
5/21
2. Asycube CC-Link Gateway Quickstart
NOTES:
The Asycube Gateway is ready to use. Do not erase or modify its internal configuration.
The Asycube Feeder needs a firmware version ≥v4.0.0.
2.1. Communication in production
2.2. Asycube Gateway Power supply
2.3. Asycube offline configuration (not connected to the Gateway)
PC running Asyril HMI Asycube Feeder
192.168.127.X (X:1-253) 192.168.127.254
Please refer to the full Asycube CC-Link Gateway User Guide for more information.
Machine Controller Asycube Gateway Asycube Feeder
CC-link with default values
CC-Link version: 2 Default station address: 1 (See Section 6.1)
Default Baud Rate: 10 MBaud (See Section 6.2)
X3
X2-IN
The IP Address MUST be set
to the default value:
192.168.127.254
Machine
Controller
PC
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
6/21
3. User Guide Introduction
This User Guide presents the Asycube CC-Link Gateway used to communicate between a
machine controller (PLC, …) and an Asycube feeder using CC-Link fieldbus. The machine
controller is a fieldbus Master while the Asycube Gateway is a fieldbus Slave (station).
This chapter quickly presents the Asycube and the Gateway. Chapter 4 shows how to connect
the Gateway. Chapter 5 explains how to integrate the Gateway with a machine controller.
3.1. Asycube feeder
The Asycube is a flexible feeding system, which spreads the parts on the picking surface using
smart vibrations. The displacements in all directions as well as more advanced trajectories are
the result of the sum of the excitations of the different actuators. The role of the Asycube is to:
• Distribute and flip the components over the picking surface
• Manage the feeding from the hopper in order to have enough components on the
picking surface
Please refer to the Asycube User Guide for more information.
3.2. Gateway
A gateway is a protocol converter device. The Asycube Gateway is configured to allow a
seamless communication between the Asycube feeder and an external controller based on
fieldbus.
Figure 3-1: The Asycube CC-Link Gateway.
NOTE:
The Asycube CC-Link Gateway is ready to use. Do not erase or modify its internal
configuration.
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
7/21
4. Connect the Asycube Gateway
This chapter presents the steps to connect the Asycube CC-Link Gateway (also simply referred
as Gateway).
4.1. Preparation
You will need the following elements
• An Asycube feeder connected to its power supply
o With firmware version ≥v4.0.0
o With default communication settings (i.e. IP address 192.168.127.254).
• An Asycube CC-Link Gateway
• A 24VDC power supply unit (it can be the same as the one used for the Asycube
feeder)
• Your machine controller (PLC, …)
• A RJ45 cable for connection between the gateway and the Asycube
• A CC-Link cable for serial communication between the gateway and the machine
controller
4.2. Connect the gateway power supply
Connect the 24VDC (130 mA) power supply on the naked plug provided with the gateway.
Refer to the Figure 4-1. You will need to create the 2-wires cable between the gateway and the
power supply unit.
Figure 4-1: Gateway power supply.
4.3. Connect the gateway to the Asycube feeder
Connect the Gateway X2-IN port to the Asycube communication port with a RJ45 cable. The
Asycube feeder MUST have it IP Address set to its default value 192.168.127.254. The IP
Address of the Gateway X2-IN port is 192.168.127.1.
Connect the RJ45 cable from this
port to the Asycube
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
8/21
4.4. Connect the gateway to the machine controller
Connect the Gateway X3 port to the machine controller CC-Link with a CC-Link cable.
4.5. Power ON
Switch the power supply ON to supply both the Asycube and the Gateway.
Check the status of the Gateway LEDs:
• SYS: steady green ON.
• APL: blinking green with 2s OFF and 0.5s ON or steady green ON (if
the machine controller runs).
• X2 LINK IN (CH0) L/A: steady green or blinking green.
• X3 LINK: steady green.
• Other LEDs may also switch on or blink.
Gateway X3 port
1:DA
2:DB
3:DG
4:SLD
5:FG
DA
DB
DG
SLD
FG
CC-Link cable
Gateway X3 portMachine controller
CC-Link port
Terminating resistorTerminating resistor (Typical valueof the resister(Note):110Ω 1/4W)
CC-Link cable connection
(Note)See the controller manual for the resistor value ofspecial usage
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
9/21
5. Commissioning and integration
This chapter explains how to integrate the Gateway in a machine controller (PLC, …) and
provides some detailed examples for some PLC controllers.
The Input/Output Registers are described in the Asycube Programming Guide (Section
Asycube Modbus Register Table). The outputs correspond to the Control Holding
Registers. The inputs correspond to the Status Holding Registers (do not pay attention to the
“64+” offset in the address). The other Modbus Holding Registers cannot be accessed
through the Gateway.
5.1. General principles
The commissioning and the integration of the Gateway with a machine controller differ from
one controller to the other. The common general principles are presented in this section. The
following sections show some example with some specific machine controllers.
5.1.1. Import the fieldbus device description file
In order for the machine controller to recognize the fieldbus device, the device description file
(also known as electronic datasheet) needs to be imported in the machine controller. This is
usually done by importing the file in the development environment or by copying the file on the
machine controller. All device descriptions files for the Gateway can be found in the USB
memory key provided with the Asycube.
5.1.2. Add the Gateway in the configuration
The Gateway device needs to be added in the hardware configuration of the machine
controller. It should then be possible to interact with the Asycube feeder through the Gateway
with the automatically created input/output registers. For example, you can read the Asycube
firmware version in the given input registers (WORD address 14-16 or BYTE address 28-33).
You can also start a platform vibration by trigging the given output register (WORD address 1
or BYTE address 2) from value 0 to 1.
5.1.3. Program and run the application
You can now program the application. First, declare some variables and link/map them with
the input/output registers. Then, program the behavior of the Asycube based on the registers
described in the Asycube Programming Guide (see examples in Figure 5-1 and Figure 5-2).
Finally compile and run the application. The Gateway APL LED should now be steady green
ON.
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
10/21
Figure 5-1. Programming example for a platform vibration.
(*error detection*) IF asycubeReadRegister.HR_MODBUS_STATUS.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state*) state:=state+1; 1: (*prepare vibration*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_ID.w:=2; (*C*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_DURATION.w:=1000; (*1000ms*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=0; state:=state+1; 2: (*start vibration*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=1; (*rising edge*) IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w>0 THEN state:=state+1; END_IF 3: (*wait for the vibration to complete*) IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w=0 THEN state:=state+1; END_IF 4: (*switch backlight on*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=1; (*on*) state:=state+1; 5: (*take a picture*) (*insert your code here*) (*... wait ... take a picture ... wait ...*) (*state:=state+1;*) 6: (*switch backlight off*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=0; (*off*) state:=state+1; 7: (*final state*) END_CASE
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
11/21
Figure 5-2. Programming example for a production cycle with sequences.
5.2. Example for CC-Link on Mitsubishi MELSEC-Q Series
This section presents an example of integration of the Asycube CC-Link Gateway with the
Mitsubishi MELSEC-Q Series. The figures below are screens from the GX-Works 2 editor
program.
(*error detection*) IF asycubeReadRegister.HR_MODBUS_STATUS.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state and preparation*) asycubeWriteRegister.HR_SELECT_VIBRATION_SET.w:=1; state:=state+1; 1: (*switch backlight on*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=1; (*on*) state:=state+1; 2: (*take a picture*) (*insert your code here*) (*... wait ... take a picture ... wait ...*) (*analyze image: nbparts:=..., x:=..., y:=...*) (*state:=state+1;*) 3: (*switch backlight off*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=0; (*off*) state:=state+1; 4: (*take the parts on the feeder with the robot*) (*insert your code here*) (*... wait ... take a part ... wait ... take a part ... wait*) (*state:=state+1;*) 5: (*prepare sequence*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_NBPARTS.w:=nbparts; (*ex: 10*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_NBMAX.w:=50; asycubeWriteRegister.HR_SEQUENCE_EXECUTION_X.w:=x; (*ex: -10*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_Y.w:=y; (*ex: 13*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_SEQUENCEID.w:=1; asycubeWriteRegister.HR_SEQUENCE_EXECUTION_TRIG.w:=0; state:=state+1; 6: (*start sequence*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_TRIG.w:=1; (*rising edge*) IF asycubeReadRegister.HR_SEQUENCE_REMAINING_TIME.w>0 THEN state:=state+1; END_IF 7: (*wait for the sequence to complete*) IF asycubeReadRegister.HR_SEQUENCE_REMAINING_TIME.w=0 THEN state:=1; (*loop back*) END_IF END_CASE
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
12/21
5.2.1. Setting CC-Link communication conditions with a PLC editor software to use the gateway
PLC parameter is set as the steps from Sections 5.2.2 to 5.2.4 as the figure below
shows.
5.2.2. CC-Link Parameter step 1
CC-Link parameters are set by step 1 as the following figure shows.
2) I/O Assignment
1) PLC Parameter
3) CC-Link module in a PLC is set as a Type of module, "Intelligent"
4) "End" to save.
1) CC-Link
2) - CHECK : "Set the station information in the CC-Link configuration window - Double Click : "CC-
Link Configuration Setting"
3) Detect Now 4) The CC-Link setting of the gateway is read automatically
5) Save the data by clicking here
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
13/21
5.2.3. CC-Link Parameter step 2
CC-Link parameters are set by step 2 as the following figure shows.
5.2.4. CC-Link Parameter step 3
CC-Link parameters are set by step 3 as the following figure shows.
Double Click
Double Click
2) Operation Setting Module1
3) Remote Device Station Initial Target Station Number Setting Module1
4) Operation Setting Module1
Default :
No setting
(Blank)
1) CC-Link
Double Click
1) CC-Link
2) Examples of CC-Link Parameters
- Start I/O No. 0000 - Operating Setting
(To be set at the next pages) - Type (CC-Link module in the PLC)
Master Station - Mode
Remote Net (Ver.2 Mode)
- Remote input (RX) X1000 - Remote output (RY)
Y1000 - Remote register (RWr)
W0 - Remote register (RWw)
W100 - Special relay (SB) SB0 - Special register (SW) SW0 - Retry Count 3 - Automatic Reconnection St Cnt 1 - PLC Down Select Stop - Scan Mode Setting Asynchronous - Delay Time Setting 0 - Station Information Setting (To be set at the next pages) - Remote Device St Initial Setting (To be set at the next pages) - Interrupt Settings
(To be set at the next pages)
Values should be set to suit a PLC program
Default values of the PLC
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
14/21
5.2.5. Example: CC-Link - Modbus TCP Memory Map
Status data of Asycube are sent to PLC and commands from PLC are sent to the
Asycube as the figure shows.
RY: 4200Y1000
RWw: 4400W100
RX: 4000X1000
RWr: 4C00W0
8ワード
8ワード
11ワード
25ワード
8ワード
8ワード
11ワード
25ワード
0
8
64
72
RX RX
RYRY
RWr RWr
RWwRWw
PLC (CPU) memory addresses (X, Y, W addresses can be set according to a PLC Program)
PLC (CC-Link module) memory address
Gateway memory address Asycube memory address
Address Memory
size Address
Input
Input
Output
8 Words 8 Words
8 Words
Memory size
8 Words
8 Words
11 Words
25 Words 25 Words
11 Words
8 Words
8 Words
8 Words
11 Words
25Words 25Words
11 Words
Output
Communication Gateway <->
Asycube
Memory copy in the PLC
Input
Input
Output
Output
Comm. PLC -
Gateway
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
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6. Troubleshooting
This chapter presents some tricks to overcome common problems.
6.1. Modify the Station Address
The station address is defined by the two hardware switches. The address ranges from 1 to
64. Use a small flat screwdriver to turn the switches to the desired address.
6.2. Modify the Baud Rate (speed)
The default baud rate may not be suitable for all application. If you need to modify the baud
rate, please follow this procedure:
1. Download the Hilscher SYCON.net software tool on Hilscher website: Gateway Solutions
DVD (https://www.hilscher.com/products/product-groups/software/configurator/syconnet/)
2. Install the Hilscher SYCON.net software tool
3. Launch the Hilscher SYCON.net software tool: click OK without Password
4. Open the cclink project provided
a. Click Open
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
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b. Brows for the cclink.spj file located in the USB memory key provided with the
Asycube (CCLINK CONFIGURATION in the 35_Gateway folder)
c. Click Open
5. Modify the baud rate
a. Right-click on the netTAP item
b. Select the Configuration - CC-Link Slave
c. Set the Baud rate to the desired value
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
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d. Click OK
6. Connect your Asycube CC-Link Gateway to your computer
a. Connect the 24VDC power supply (refer to Section 4.2)
b. Connect the provided USB cable to your gateway (under the flap)
c. Connect the provided USB cable to your computer
7. Download the configuration into your gateway
a. Right-click on the netTAP item
b. Click Download
c. If you get a warning “Do you really want to download?”, click Yes
d. Wait a few seconds until the download succeeded
8. Finalize
a. Exit SYCON.net software tool
b. Remove the USB cable
c. Disconnect the power supply
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
18/21
6.3. The APL led blinks twice red every 3 seconds
The CC-Link configuration has a problem. A typical case is when the address switches are not
in range (e.g. both switches to 0). Refer to Section 6.1 for more information.
6.4. The SYS led blinks alternatively yellow/green every second
Please contact the Asyril technical support. The gateway has lost its configuration. The
gateway needs to be reset to the factory settings and the fieldbus configuration needs to be
deployed again.
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
19/21
7. Technical support
7.1. For better service …
You have read the related manuals without finding answers to your questions? Before calling
the support service, note the following information for your system:
• serial number and product key of your material
Figure 7-1. The gateway serial number can be found in the field (4) on the device label.
• software version
• alarm or error message displayed on the screen
7.2. Contact
You can find lot of information on our website: www.asyril.com
You can also contact us by mail or call our support service:
support@asyril.com +41 26 653 71 90
Asycube CC-Link Gateway
User Guide © Copyright Asyril S.A.
000.103.256 Version : A
20/21
Review history
Rev. Date Author Comments
A 14.10.2019 PeD Initial Version
This document is the property of Asyril S.A. and may not be copied or circulated without
permission. The information contained in this document is subject to change without notice for
the purpose of product improvement.
asyril sa
z.i. le vivier 22
ch-1690 villaz-st-pierre
switzerland
tel. +41 26 653 71 90
fax +41 26 653 71 91
info@asyril.com
www.asyril.com
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