Fastcorp, LLC
DIVI Setup and Users Guide
Page
45
of
62
Rev 6
G.
Pause
After the Robot Arm stabilizes, power to the Vacuum Pump is slowly ramped up until it is at the
ideal level for product detection. A timer is set and the Z Motor is engaged to descend into the bin.
Control proceeds to the Z (Down) state.
H.
Z Down
We wait for one of the following to occur:
An increase in current through the Vacuum Pump circuit indicates that product has been
detected.
Z Down timer expires.
Z Encoder Pulses are not detected or the signal is lost.
The Z Home Switch never goes inactive (open circuit).
The number of encoder pulses exceeds the bin depth.
If product contact is made, the Z Down Motor is halted and (following another pause state to confirm product
contact) a timer is set, a “slowdown point” is calculated for the upward travel, a current value is calculated
which represents a dropped product and control proceeds to the Z Up state after engaging the Z motor in the
UP direction.
A.
Z Up
(1)
The Vacuum Pump remains ON as it ascends with the product out of the bin. Control waits
for one of the following:
(a)
The Z Home Switch is detected (active).
(b)
Z Up timer expires.
(c)
Z Encoder Pulses are not detected or the signal is lost.
(d)
Current flow indicates a dropped product.
(2)
When the Z Home Switch is detected, another sequence of destinations is generated for the
Robot Arm. To avoid hitting a gusset or a wall, the Robot Arm will move to an intermediate position
inside the cabinet and then proceed to the delivery position. Control starts a timer, sets the Robot
Arm in motion and advances to the cabinet intermediate posit
ion. Control advances to “Deliver
Inside Cabinet” state.
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