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Robot Control Sequence / Order of Operations
Control of the Robot Arm and the Freezer proceed through a sequence of states
during the course of the vend cycle and until the product is delivered. These
states are detailed below:
1. Idle State:
The Robot Arm is at the delivery position with the freezer closed.
2. Vend Cycle Begins:
Money is inserted into the machine and a selection is made. A credit is
established and Control issues a request to convert a selection number into a
product location.
The Freezer Open Switch and Freezer Closed Switch circuits are inspected. If
both circuits are active, an error is declared. Otherwise, Control issues a request
to open the Freezer. A seven second timer is set and Control proceeds to the
“Freezer Open” state.
3. Freezer Open:
Control waits for one of the following conditions to occur:
- The Freezer Open Switch is detected.
-
The seven second timer expires and the Freezer Lid is still not open.
-
A period of time has elapsed without “seeing” Freezer Encoders.
-
A Freezer Lid Lift Motor over-current is detected.
When the Freezer Open Switch has been detected, a sequence of destinations is
generated for the Robot Arm. In order to avoid hitting a gusset or wall, the Robot
Arm will need to move to an intermediate position inside the cabinet, and then
proceed to a position directly over the requested bin. Control starts a timer, sets
the Robot Arm in motion and advances to the “Retrieve Inside Cabinet” state.
4. Retrieve Inside Cabinet:
Control guides the Robot Arm to an intermediate position. The Z axis (Up/Down)
Home Switch is monitored while the Robot Arm is moving. The Z (Up) Motor is
engaged, as necessary, to pull the Vacuum Pump up and to maintain the Z
Home Switch in an active state. Control waits for one of the following conditions
to occur:
-
The intermediate cabinet position is reached.
To Purchase This Item, Visit BMI Gaming | www.bmigaming.com | (800) 746-2255 | + 561-391-7200
