Fastcorp DIVI - Page 44

Fastcorp, LLC
DIVI Setup and Users Guide
Page 44 of 62 Rev 6
C. Freezer Open:
Control waits for one of the following conditions to occur:
 The Freezer Open Switch is detected.
 The seven second timer expires and the Freezer Lid is still not open.
 A period of time has elapsed without “seeing” Freezer Encoders.
D. A Freezer Lid Lift Motor over-current is detected.
When the Freezer Open Switch has been detected, a sequence of destinations is generated for the
Robot Arm. In order to avoid hitting a gusset or wall, the Robot Arm will need to move to an
intermediate position inside the cabinet, and then proceed to a position directly over the requested
bin. Control starts a timer, sets the Robot Arm in motion and advances to the “Retrieve Inside
Cabinet” state.
E. Retrieve Inside Cabinet:
Control guides the Robot Arm to an intermediate position. The Z axis (Up/Down) Home Switch is
monitored while the Robot Arm is moving. 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 is reached.
 The timer monitoring the Robot Arm expires.
 A Robot Arm over-current condition occurs.
 The Robot Arm Angular Sensors report inaccurate data.
When the intermediate cabinet position has been reached, Control advances to the “Retrieve
Product” state.
F. Retrieve Product:
“Retrieve Product” is similar to the “Retrieve Inside Cabinet” state. Control directs the Robot Arm to
reach a destination directly above the requested bin. When the destination has been reached,
Control will set a 5 second timer while the Robot Arm pauses. The “pause state” will allow the
Robot Arm to stabilize before the picker tip descends into a bin.