Fastcorp DIVI Setup And User Manual page 46

DIVI Setup and Users Guide
B. 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 picker tip up and to maintain the Z Home Switch
in an active state. Control waits for one of the following conditions to occur:

The intermediate cabinet position has been reached.

The timer monitoring the Robot Arm expires.

A Robot Arm over-current condition occurs.

The Robot Arm Angular Sensors report inaccurate data.

Current monitoring indicates that the product dropped.
When the intermediate cabinet position has been reached, Control advances to the "Deliver to
Home" state.
C. 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.
1. 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 picker tip until the Z Home Switch is active.
2. 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.
D. Freezer Close
We wait for one of the following to occur:
(a) The Freezer Closed Switch has been detected.
(b) The Freezer Open Switch is detected.
(c) The timer expires and the freezer is still not closed.
(d) A period of time has elapsed without "seeing" freezer encoders.
(e) A Freezer Lid Lift Motor over-current is detected.
Fastcorp, LLC
Page 46 of 62
Rev 6