19
ORDER OF OPERATION -
VEND CYCLE
1. Initiating The Vend Cycle
-
Credits are calculated, registered and displayed. Freezer door raises to its full open
position
•
The controller board verifies that the freezer door is truly closed by monitoring both the open
and closed freezer door switches.
•
The controller board activates the motor in the freezer door lift assembly opening the lid. When
the freezer lid reaches the open position, the freezer door open switch is activated.
•
A selection is accepted from the customer keypad.
•
Vend cycle starts from the Home Position or the Drop Point.
2. Robot Carriage Moves Back -
The F/B Motor moves the robot carriage back on the Y-axis.
As the robot leaves the F/B Home Position, the controller looks for the F/B Home Switch to
open to begin counting encoder pulses relayed by the F/B Encoder Switch.
If:
Encoder pulses are not seen for a period of time, the robot will attempt to return to the
Home Position.
•
The robot moves to the Home Position on the X-axis then the Y-axis.
•
The customer is prompted: “Make Another Selection”.
•
The next vend cycle starts from the Home position
•
The robot has 3 consecutive failed attempts at vending any selection(s)
•
The machine is put out-of-order with a F/B Encoder Error
•
Encoder pulses are not seen for a period of time and the robot times out before reaching the
Home Position.
•
The machine is put out-of-order with a F/B Stuck Motor
The robot stops once it reaches the selection’s Y-coordinate.
3. Robot Moves Right -
The L/R Motor moves the robot to the right on the X-axis,
As the robot leaves the L/R Home position, the controller looks for the L/R Home Switch to
open to begin counting encoder pulses relayed by the L/R Encoder Switch.
If:
Encoder pulses are not seen for a period of time, the robot will attempt to return to the
Home Position.
•
The robot moves to the Home Position on the Y-axis then the X-axis.
•
The customer is prompted: “Make Another Selection”.
•
The next vend cycle starts from the Home position
The robot has 3 consecutive failed attempts at vending any selection(s)
•
The machine is put out-of-order with a L/R Encoder Error
Encoder pulses are not seen for a period of time and the robot times out before reaching
the Home Position.
•
The machine is put out-of-order with a L/R Stuck Motor
The robot stops once it reaches the selection’s X-coordinate.
4. Picker Head Moves Down
(Robot Is Over The Bin)
The U/D Motor moves the picker head down the Z-axis.
As the robot leaves the U/D Home position, the controller looks for the U/D Home Switch
to open to begin counting encoder pulses relayed by the U/D Encoder Switch
.
If:
Encoder pulses are not seen for a period of time, the robot will attempt to return to the
Home Position.
•
The robot moves to the Home Position on the Z-axis, the Y-axis then the X-axis.
•
The customer is prompted: “Make Another Selection”.
•
The next vend cycle starts from the Home position
The robot has 3 consecutive failed attempts at vending any selection(s)
•
The machine is put out-of-order with an U/D Encoder Error
Encoder pulses are not seen for a period of time and the robot times out before reaching
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