Fastcorp DIVI Setup And User Manual page 45

G. Pause
After the Robot Arm stabilizes, power to the Vacuum Pump is slowly ramped up until it is at the
ideal level for product detection. A timer is set and the Z Motor is engaged to descend into the bin.
Control proceeds to the Z (Down) state.
H. Z Down
We wait for one of the following to occur:

An increase in current through the Vacuum Pump circuit indicates that product has been
detected.

Z Down timer expires.

Z Encoder Pulses are not detected or the signal is lost.

The Z Home Switch never goes inactive (open circuit).

The number of encoder pulses exceeds the bin depth.
If product contact is made, the Z Down Motor is halted and (following another pause state to confirm product
contact) a timer is set, a "slowdown point" is calculated for the upward travel, a current value is calculated
which represents a dropped product and control proceeds to the Z Up state after engaging the Z motor in the
UP direction.
A. Z Up
(1) The Vacuum Pump remains ON as it ascends with the product out of the bin. Control waits
for one of the following:
(a)
(b)
(c)
(d)
(2) 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.
Fastcorp, LLC
DIVI Setup and Users Guide
The Z Home Switch is detected (active).
Z Up timer expires.
Z Encoder Pulses are not detected or the signal is lost.
Current flow indicates a dropped product.
Page 45 of 62
Rev 6