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the Home Position.
•
The machine is put out-of-order with a U/D Stuck Motor
The controller monitors for an open signal from the product sensor (signifying contact
with product), and stops the U/D Motor from lowering the picker head.
If:
The controller does not detect the product sensor, the U/D Motor will continue to lower
the picker head and unreal the hose.
•
The controller counts encoder pulses on the way down to determine how far it is from
the virtual “bin bottom”
•
If the virtual “bin bottom” Z-coordinate is reached, the robot will return to the Home
Position.
•
The bin is put out-of-order with an Out Of Product Error.
•
The customer is prompted: “Make Another Selection”.
•
If all bins in the machine are out of product, the machine will be put out-of-order with
an Out Of Product error.
5. Vacuum Motor turns on.
The flap in the airflow box rises to the up position, closing the reed switch. Once a seal has
been created with the product the flap drops down, opening the switch.
If:
The product falls off, the airflow in the hose causes the flap to rise to its up position
closing the reed switch. This signals the computer board to go “home” and retry the vend attempt.
•
Three failed attempts disable the bin with a Bin Load Error.
•
Nine consecutive attempts put the machine out of order with Vacuum Out Of Order.
The open reed switch indicates that the robot has product.
6. Picker Head Moves Up
The controller activates the U/D Motor, lifting the picker head up the Z-axis (after a 1 sec.
delay)
The robot reaches the full up position triggering the Z-Home Switch.
If:
The controller times out before a closed U/D Home Switch signal is detected.
•
The vacuum motor is shut down.
•
The machine is put out-of-order with an UD Motor Stuck Error.
The controller monitors for a closed reed switch in the vacuum valve assembly, indicating
a dropped product (airflow box flap in the up position caused by a break in the vacuum
seal).
If:
Product is dropped, the robot returns to the Z-axis home position and reattempts to
complete the vend cycle up to 3 times.
•
The robot will go to the home position before making the third attempt.
•
3 unsuccessful attempts will put the bin out-of-order with a Bin Error.
•
The customer is prompted: “Make Another Selection”.
•
The machine is put out-of-order with a Vacuum Out Of Order Error, after 9
consecutive vacuum errors (3 bin errors).
7. Robot Moves Left/Right
(Robot Is Centered In Cabinet)
The L/R motor moves the robot left or right towards the center of the cabinet (calculated
Product Drop Point coordinate on the X-axis).
If:
The bin location is located near the gusset zone (front left and right corners of the
cabinet), the robot will move back a default distance before continuing on the X-axis.
The controller counts 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.
Содержание F820
Страница 1: ...F820 Service and Parts Manual Ver FC031504...
