Adept AnyFeeder - Manual (Page 31)

Adept AnyFeeder User’s Guide, Rev. B 31
Using the AnyFeeder with
Serial Communications
3
3.1 Introduction
This chapter describes the requirements for using the Adept AnyFeeder with a
robot/vision system and serial communications.
3.2 System Requirements
To use the Adept AnyFeeder with a robot/vision system, your workcell must contain the
equipment described in
Section 2.1 on page 19 .
3.3 Program Flow
The steps below briefly describe a simple program flow for using the Adept AnyFeeder in
the workcell:
1. Initialize the Adept AnyFeeder.
2. Send “dispense” command to Adept AnyFeeder to feed parts.
3. Acquire vision image and locate “usable” parts; store part count.
4. Command robot to pick-place the usable parts; decrement part count for each
pick.
5. When part count reaches 0, send combinations of “feed forward,” “feed
backward,” “flip,” “feed/flip forward,” and “feed/flip backward” commands,
along with acquiring vision images, to locate more usable parts.
a. If usable parts are found, store part count and loop back to step 4 .
b. If no usable parts are found, and feed area is not empty, repeat step 5 .
c. If no usable parts are found, and feed area is empty, go to step 2 .