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The controller monitors for a closed reed switch indicating 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 X-Y encoder position and reattempts to
complete the vend cycle up to 3 times.
•
The robot will return to the bin and try to pick up product.
•
3 unsuccessful attempts 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).
The robot stops once it reaches the calculated Product Drop Point coordinate on the X-
axis.
8. Robot Carriage Moves Forward
The F/B Motor moves the robot towards the F/B Home Position on the Y-axis.
The controller monitors for a closed reed switch in the vacuum valve assembly, indicating
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 X-Y encoder position and reattempts to
complete the vend cycle up to 3 times.
•
The robot will return to the bin and try to pick up product.
•
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).
As the carriage activates and moves past the F/B home switch, the controller board begins
to count encoder pulses calculating the location of the product drop point
If:
Encoder pulses are not seen for a period of time, the robot will move straight back,
returning to the Y-Home Position located at the front of the cabinet.
•
The robot will retry to deliver product up to 3 times in a row.
The robot has 3 unsuccessful attempts at reaching the drop point and completing the
vend cycle.
•
The machine is put out-of-order with a F/B Encoder Error.
Before reaching the Product Drop Point, the robot carriage mechanically triggers the blow
off valve crank, releasing the vacuum pressure from the system and dropping the product
into the delivery chute.
The robot stops once it reaches the calculated Product Drop Point coordinate on the Y-
axis (approx. 5 1/2 " beyond F/B Home Position).
The controller turns off the Vacuum Motor
9. The Vend Cycle Is Complete
(The Machine Is Ready For Another Vend)
Any change owed to the customer is calculated and dispensed.
If no more vends are made within the allotted time, the controller board verifies an open
freezer door switch then activates the motor in the freezer door lift assembly to close the
lid.
The freezer lid reaches the closed position activating the freezer door closed switch.
The vend sequence is complete and the machine is ready for another vend.
The next three vend cycles will be initiated from this drop point position.
The robot typically returns to true home after every 4 vends to reorient itself for accuracy.
To improve accuracy when dealing with small vend items, the virtual home may be set to
one. To do this go to menu item 14) PROGRAM VERSION, press the “#” key. Then press
“LOAD”. The display will show virtual home count 04. Press 01 and “#” to accept. The
robot will now home after every vend.
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