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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 position. Control advances to “Deliver
Inside Cabinet” state.
9
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Deliver Inside Cabinet
The Vacuum Pump remains ON as long as a problem is not detected. The Z
axis (Up/Down) Home Switch is monitored while Control guides the Robot Arm to
the cabinet intermediate position. 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:
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The intermediate cabinet position has been reached.
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The timer monitoring the Robot Arm expires.
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A Robot Arm over-current condition occurs.
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The Robot Arm Angular Sensors report inaccurate data.
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Current monitoring indicates that the product dropped.
When the intermediate cabinet position has been reached, Control advances to
the “Deliver to Home” state.
10. Deliver to Home
Deliver to Home is similar to the “Deliver Inside Cabinet” state. If the Robot Arm
reaches the delivery position without issue, the vend cycle will be considered
successful.
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If the Soft Drop feature had been enabled, Control will direct the Z
Motor to descend the appropriate number of encoder pulses before
turning OFF the Vacuum Pump to release product into the Delivery
Bin. After product has been released, the Z Motor will reel up the
Vacuum Pump until the Z Home Switch is active.
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If the Line Mode feature had been enabled, Control will turn OFF
the Vacuum Pump to release product into the Delivery Bin and set
a 20 second timer. If a new vend request arrives, the vend cycle
will begin anew. If no new vend request arrives, then Line Mode
will time out after 20 seconds.
Control will direct the freezer to close, set a timer and then Control will proceed to
the “Freezer Close” state.
To Purchase This Item, Visit BMI Gaming | www.bmigaming.com | (800) 746-2255 | + 561-391-7200