User Manual anyfeed SXM100-SD
Contents
1. anyfeed SXM100 SD User s Guide P N 002 575 000 A Edit 0 July 2007 sCOlM flexfactory ag Switzerland f ex fa ctor Giessenstrasse 15 Phone 41 44 774 55 66 CH 8953 Dietikon Internet www flexfactory com Table of Contents Inhalt EEN ch eee meer E ore ere ee eee ee E eee 5 1 1 DUOC VOM aus sannnsscenctteeutaenace E E E E E E diatenascustancoseunesnese 5 1 2 Abo t Your anyieed SXM100 SD aesir EE EES 5 1 3 AMON AN CWC CK HG erea E E EE E E E E A E E E 5 1 4 other temne Xou NEE dereiran a E E 6 1 5 Dangers Warnings Cautions and NOtES cccccccccsecccscccencecseceeeeccensceeucceeuceeeeceeeeeenseteuseeeeseeeeeeneets 6 1 6 PONEIS SIONS e E E E E T 6 1 7 WODE ATE s ou neeneesaseo sien saneaaueeteaimitesmnincesst a casnnreessaihecaeancoueserais 7 1 8 PUIG MN IONICS ee inoausen tacusee ann E E E AE E E 8 1 8 1 Pinch Points on the anyfeed SXM100 SD cccccesseccceeseccceesscceeeesececeeeeceeeeneceeeeuseeesaeaecesseneess 8 1 8 2 Pinch Points in combination with surrounding equipment cecccccessecceeesecceeeesceeeseneeeeaeaeess 9 1 9 OU IITICALIONION P Cl One lh cecctc snsvisienencctcoonsmiantpscuces E E tae cenetasaarsaduiticenesasersavuescenets 9 1 10 Protection Against Unauthorized Operation cccccccsssccccesseccccsececcenecccseseceseuseceseeeceeseenecesseneces 10 1 11 Safety Aspects while performing Maintenance and Repair cccccccsssccccsssececeesececeeececeeeseceeeeneee2. Preparation purge the feeder as explained under 4 2 1 Make sure the purge gate is open 2 Pull out the feed surface Note the thump hole on the underside of the feed plate Helps to get a better grip on the feed plate Figure 4 4 Feeder with feed surface pulled out flexfactory ag 24 04 2007 25 5 Periodic Maintenance Feed surface Clean upper side of feed surface and weekly frame with a non abrasive no residue cleaner such as rubbing alcohol or window cleaner Failure to do this may degrade vision performance Clean the rimm of the feed platform and the inner walls of the bulk container as well as the dispense gate Feed surface Remove feed surface and clean Monthly Feed channel bottom side with a non abrasive Backlight no residue cleaner such as rubbing alcohol or window cleaner Clean support surface and glass window Backlight with alcohol Failure to do this may degrade vision performance Table 5 1 Periodic maintenance flexfactory ag 24 04 2007 26 6 Dimensions and Technical Specifications 6 1 anyfeed SXM100 SD Dimensions 6 N F rderfl ch Umrandung 11 2 rderfl che randun SCHNITT A A LED Backlight 100x170mm Backlit zone Base Plate not supplied with anyfeed SXM Interface Panel R Pick Zone 100x170 backlit Dispense Gate Bulk Container S Figure 6 1 anyfeed SXM100 SD dimensions flexfactory ag 24 04 2007 6 2
3. A under worst case conditions Typical values will be lower depending on the type of parts being fed speed and payload Appropriate safety measures should be taken against excessive acoustic emission such as using ear protection and displaying a warning sign soar It the noise level is to high the safeguard around the robot and feeder can be designed to also reduce the noise level down to an accptable level 1 7 Working Areas The anyfeed SXM100 SD is typically placed within the work envelope of a robot Follow the safety instructions provided by the robot supplier Always make sure that robot is powerd down or in a safe slow operation mode when you enter its work envelope Never remove parts from the feeders presentation surface with the robot powered up If the robot is powered up and servoing the robot might suddenly move to go and pick a part when it receives the coordinates for a pickable part from the vision system Electrical Hazard Impact Hazard Never remove any safeguarding and never make changes in the system that will decommission a safeguard Impact Hazard ARG Never assume a robot which does not move at one moment it is not going to move the next moment flexfactory ag 24 04 2007 7 1 8 Pinch Points 1 8 1 Pinch Points on the anyfeed SXM100 SD The feedplatform of the anyfeed SXM performs a circular motion with a radius of 1 5 to 7mm depending of the model you received The standard radius
4. Table 1 1 Use of Warning symbols in THIS MANUAL ces isceseatesacecssuncapicdeasesccsiswadasduseeiechaauapeideseakecdseev ANENE 6 Tale 2 1 SEF lal COMMUNICALION Setting Sassena ccasvadesce veGasea vedas E edad eacotosaetesan eae eee 16 Table 3 1 Convention to describe Serial COMMUNICATION cccccceseccccesscccceesececeeececseueceeeeeececsuecessunecessenes 18 TavIe 3 2 anVieed SXM1I00 SD commands sess nat eescicas echt sis ve Gasca TA nee eae eo 19 Table 3 3 Additional Serial command Siecniaosa atest Mamadtedi aude davese Rad sees aaa eee 20 Table 3 4 Default parameter SELLING S oani sl ds terwakaas dared E AAT 20 Table 5 1 PerOdic Mal Men alniGe siressasaes 2aiscdanceernts a a aa Macredtaetn ass taedot nad tas A aa 26 flexfactory ag 24 04 2007 3 Declaration of Conformity In accordance with EU DIRECTIVE ON EMC 98 37 EG 1 __ Manufacturer oe Flexfactory Giessenstr 15 CH 8953 Dietikon 2 Apparatus ec Sch ttgut Zuf hrung SSS O Product description Sch ttgut Zuf hrunq Technical documentation Users Guide anyfeed SXM100 SD prelimina 3 Summery of test results Oo O test type pe standard results Mains terminal interference EN 61000 6 4 2001 with limit A Table 1 Test passed voltage Radiated electromagnetic field EN 61000 6 4 2001 with limit A Table 1 Immunity to ESD EN 61000 4 2 95 A1 98 Immunity to EM field EN 61000 4 3 02 A1 02 Immunity to fast electric EN 61000 4 4 95 A1 01 A2 01 Test passed tran
5. The user must provide the necessary additional training for all personnel who will be working with the system As noted in this manual certain procedures should be performed only by skilled or instructed persons For a description of the level of qualification flexfactory uses the standard terms e Skilled persons have technical knowledge or sufficient experience to enable them to avoid the dangers electrical and or mechanical e Instructed persons are adequately advised or supervised by skilled persons to enable them to avoid the dangers electrical and or mechanical flexfactory ag 24 04 2007 All personnel must observe sound safety practices during the installation operation and testing of all electrically powered equipment To avoid injury or damage to equipment always remove power by disconnecting the AC power from the source before attempting any repair or upgrade activity Use appropriate lockout procedures to reduce the risk of power being restored by another person while you are working on the system The user must get confirmation from every AX Warning entrusted person before the person starts working with the robot that the person e Has received the manual e Has read the manual e Understands the manual e Will work in the manner specified by the manual 1 10 Protection Against Unauthorized Operation The system must be protected against unauthorized use Restrict access to the keyboard and the pendant by locking them
6. abhi f o abl22 ab 23 Description Dispense gate mode feed forward speed feed backward speed feed flip forward speed feed flip backward speed flip speed dispense speed purge speed feed backward repetitions gt ab 27 2 x 27 lt cr gt gt ab 27 3 x 27 lt cr gt gt ab 27 4 x 27 lt cr gt gt ab 27 5 x 27 lt cr gt gt tt 1 lt cr gt gt tt O lt cr gt feed and flip forward repetitions feed and flip backward repetitions flip repetitions dispense repetitions purge repetitions feed forward speed feed backward speed feed and flip forward speed feed and flip backward speed flip speed dispense speed purge speed Table 3 4 Default parameter settings flexfactory ag 24 04 2007 Turns the backlight off Turns the backlight on Moves the dispense gate up Moves the dispense gate down Activates test mode Deactivates test mode Feeder must be initialized in order to use test mode 20 3 5 How the anyfeed SX responds to commands receive side For each action command line the feeder receives the feeder will respond as follows mix lt cr gt The 1 after the m indicates whether the message is comming from motor drive 1 Motor numbering is included already with the single motor feeder since future models of the SXM feeder might use more then one motor If x has a value of 1 command is valid accepted if x has a value of 0 the command completed successfully x value
7. AUX Port Pinout Camera Strobe and Pick Signal 8 Controlling Device Camera Strobe 1 anyfeed SXM Typically vision system robot or PC Common GND Pick and Camera Strobe signal 24V anyfeed SXM stops sending out camera strobe pulses OV anyfeed SXM sends out camera strobe pulses This option is usually only installed in feeders which are used in combination with Cognex In Sight vision sensor Figure 6 2 Pinout AUX port 6 3 Front Panel Connectors with Pinout 1 Camera Strobe out 2 RS232 TX A1 24VDC Hose diameter 4mm 5 Common GND 3 RS232 RX A2 OV GND Unlubricated filtered air of 8 Pick signal inp 5 Signal GND 4 6 bar Figure 6 3 Front panel connectors and pinout flexfactory ag 24 04 2007
8. 6 Error Messages returned by the anyfeed SXM100 SD cccccesecccesececeseceeeeeceeeececeeecseeueseeeeeeegaess 23 4 MechanicalSettings and FUNCIONS seepasssueensceiner Eoen Bene enw rns errr ent eer Ree renner ee ee 24 4 1 Adjusting the dispense gate open close speed cceseeesseeeeeecececccccceeeeeceueeeeeuseseeeeececeseseeeeeeeeaagens 24 flexfactory ag 24 04 2007 2 4 2 P renee LS OCC CT sinters rach tsbdnnan se teas aa a oeactuisaeunnnen a iced 24 4 3 RemovVingy Replacing the Backi nt ecne asenedernsadonisdnsacianassibannceereunsaaasabas 25 4 4 RE DIACINE Tie FEC Sur ACe siete raic naa A A AEN 25 5 Periodic Maintenance deese tesco ceed setae aceasta kiana asa poedipue nantes dereosue ans eeher dane aa 26 6 DIMENSIONS and Technical Specifications seour a tatabahcuseai dcednhen sa A 27 6 1 anvieed SXIM100 SD DIMENSIONS ceresna ne a OAN E 27 6 2 AUX Port Pinout Camera Strobe and Pick Signal cccccssssecccccesssecccceeeseeccceeeeeeeceeseeeeceeesaeeneeess 28 6 3 Front PanelConnectors WIth PINOUT nenieiacrai antaa a a EE eadopees savenanbeatoneenaeaivinens 28 List of Figures Figure 1 2 DeclaratonmoOnCECONIONNI V snee N a EN NNN 4 Figure 1 1 anyfeed SXM100 SD with sample parts on feed surface eesseseseesesrreserreresrrerssreresrresssrereserresseeee 5 Figur 1 2 anyfeed SXM100 SD PiNCN ZONES ansasinen a O a 8 Figure 1 3 anyfeed SXM work nvel Deninninscnin kenaa n a A e na 9 Figure 2 1 anyfe
9. ed SXM100 SD with its major functional parts ssesseseseeesssressrrrssrrresrrresrerresrrresrreresreeesene 12 Figure 2 2 Mounting hole pattern for anyfeed SXM100 SD ssssesssssseeseseressrrerssrrrssrreresrrrrsrreresrrresrreresrrresene 13 Figure 2 3 anyfeed SXM100 SD front Daniel iccncsazcs essaceccaseeocvausueeoaseedac a a aa euaenecoees 14 Heure 2 4 Serial Cable RS232 PiNOUleasosnneusn a a 14 Rearea 2o enal CDE ma a ee a N 14 Heure 2 0 DC POWER CaS etd ct coca cor a a shcrseuieiincareste eBeabaee ean dveshaeeesebucaesteeuiagic ae 15 Figure 2 7 Pickand camera strobesiena lssceccoatsrsvswssavmroeseaacteusuateds aa totic a aaas 15 Figure 4 1 dispense gate with rotary actuator and throttle valves ccccceseccccessececeesececeeeeceeeeeseceeeeeeceesees 24 Figure 4 2 Purging the feeder feeder with purge gate Open cccccccsssccccessececeesececceecceseesecesauecessugeceeeenes 24 Figure 4 3 Exploded view with backlight removed cccccccssseccccsseccccesecccceseceseeecesseeeceeseeecessuaecessugeceesenes 25 Figure 4 4 Feeder with feed surface pulled OUt nccciiteciendec hit ances ventcdpebivedecbelnasedktiendastteahaierbeviuedenacaceebadiieek 25 Figure 6 1 anyfeed SXIV LOO SDGimenSiONS zsrsr eE E atale E a GE 27 FIGURE G25 PINOUT AUK POL eitri E E E E A a 28 Figure 6 3 Front panel connectors and PINOUT cccccccesseccceesececeesececceecceceenececsunececeesecceseusecessusecessugeceesenes 28 List of Tables
10. fwd Feed backward Feeds parts backward gt ab 2 turns lt cr gt Sets number of fowd turns fbwd gt ab 18 speed x 18 lt cr gt Changes fbwd speed gt ab 0 1 Disp gate open 1 close 0 during dispense gt x 2 lt cr gt Execute a fbwd Feed flip forward Feeds part forward gt ab 3 turns lt cr gt Sets number of flipfwd turns flipfwd and flips them gt ab 19 speed x 19 lt cr gt Changes flipfwd speed gt x 3 lt cr gt Execute a flipfwd flexfactory ag 24 04 2007 18 Command Short form Description Explanations Feed flip backward flipbwd Feeds part backward and flips them gt ab 4 turns lt cr gt gt ab 20 speed x 20 lt cr gt Sets number of flipbwd turns Changes flipbwd speed dispense gate opens automatically purge gate must be opened manually gt X lt C gt gt ab 0 1 Disp gate open 1 close 0 during dispense gt x 4 lt cr gt Executes a flipbwd Flip Combination of gt ab 5 turns lt cr gt Sets number of flip turns flip feed flip forward and gt ab 21 speed x 21 lt cr gt Changes flip speed intensity feed flip backward gt x 5 lt cr gt Executes a flip Dispense Moves parts from the gt ab 6 turns lt cr gt Executes a dispense dispense bulk zone into the gt ab 22 speed x 22 lt cr gt Sets number of dispense turns pick zone The dispense gt ab O 1 gate is opened gt x 6 lt cr gt Changes dispense speed automatically Pu
11. ht e 4mm POM white flat feed surface p n 002 290 000 A e 24 VDC power cable 5m p n002 114 001 E e RS232 Cable 4 5m p n 002 116 000 e anyfeed SXM100 SD User s Guide p n 002 575 000 A flexfactory ag 24 04 2007 5 1 4 Other Items You Need e 24VDC 5A regulated power supply e Compressed air 4 6bar e Robot e Vision System e Sturdy mounting table s for the robot and anyfeed SXM100 SD e Camera mounting structure e Personal computer for interfacing with and programming the robot and vision system 1 5 Dangers Warnings Cautions and Notes There are four levels of special alert notation used in this manual In descending order of importance they are This indicates an imminently hazardous situation which if not avoided will result in death or serious injury This indicates a potentially hazardous situation which if not avoided could result in serious injury or major damage to the equipment This indicates a situation which if not avoided could result in minor injury or damage to the equipment This provides supplementary information emphasizes a point or procedure or gives a tip for easier operation Table 1 1 Use of Warning symbols in this manual 1 6 Sound Emissions The sound emission level of the anyfeed SXM100 SD depends on the type of parts being fed speed and payload The maximum value is 85 dB flexfactory ag 24 04 2007 Acoustic emission from the anyfeed SXM100 SD may be up to 85 dB
12. in a cabinet or use another adequate method to prevent access to them 1 11 Safety Aspects while performing Maintenance and Repair Only skilled persons with the necessary knowledge about the safety and operating equipment are allowed to maintain the anyfeed SXM100 SD During maintenance and repair the power to AX warning the anyfeed SXM100 SD and the compressed air Unauthorized third parties must be prevented from turning on power through the use of lockout measures 1 12 Intended Use of the anyfeed SXM100 SD The anyfeed SXM100 SD has been designed for the sole purpose of feeding manipulating small parts which then can be localized by a vision system and susequently picked off the feeder by a robot ini DO NOT use the anyfeed SXM100 SD for anything else then its A AS intended purpose of use as stated above Furthermore do not use it to feed wet oily parts or chemically aggressive parts flexfactory ag 24 04 2007 10 1 13 Risks Due to Incorrect Installation or Operation Certain risks will be present if installation or operation is not performed properly e Purposely defeating any aspect of the robot cell s safety E Stop system e Improper installation or programming of the robot system e Unauthorized use of cables other than those supplied or use of modified components in the system e Defeating an interlock so that an operator can enter a workcell with High Power ON Take precautions to ensure that these situations do not occ
13. k zone with 3 4 image sensor ratio if long side of image sensor is parallel to x axis upstream end of backlit zone beginning of dispense gate Figure 2 2 Mounting hole pattern for anyfeed SXM100 SD flexfactory ag 24 04 2007 13 v Step 2 Connect RS232 cable between controlling device and SXM front panel Figure 2 3 anyfeed SXM100 SD front panel The controlling device is typically a robot controller vision system or PC When you use the anyfeed SXM the first time we recommend you interface it to a PC s COM Port and use HyperTerminal to make yourself familiar with the feeder s functions Use the RS232 Cable p n 002 116 000 provided with the anyfeed SXM package Pin Pin DSUB 9 male DSUB 9 female to controller Figure 2 4 Serial cable RS232 pinout Connects to serial Connects to serial port on AnyFeeder port on robot controller orPC Figure 2 5 Serial cable flexfactory ag 24 04 2007 14 v Step 3 v Step 4 v Step 5 flexfactory ag Connect 24VDC Power Cable between power supply and SXM front panel see figure 2 3 DO NOT plug in the cable connector of the power cable into the corresponding socket on the anyfeed SXM front panel Connect the flying leads of the other cable end to your power supply first Then measure the voltage over the high current contacts Contact A1 24VDC Contact A2 OV Use cable p n002 114 001 provided with the anyfeed SXM packge TE Mixing up the pola
14. nitialized Motor 1 hasn t been initialized yet or lost it s state due to power cycle 17 Error state on Motor 1 Servo error has occurred on Motor 1 No commands will be accepted until error state is reset flexfactory ag 24 04 2007 23 4 Mechanical Settings and Functions 4 1 Adjusting the dispense gate open close speed Parts retainer silicon rubber If the dispense gate opens to fast parts laying in front of the dispense gate might be kicked out of the feeder Reduce the speed by adjusting the throttle valve accordingly Also make sure that the return close speed is not unnecessarilly high since rotary unit might otherwise fatigue to soon Pneumatic rotary unit Throttle valves to adjust dispense gate open close speed Figure 4 1 dispense gate with rotary actuator and throttle valves 4 2 Purging the Feeder Purge gate in open position et yp ZA In order to purge the feeder from Oi y L d remaining parts the purge gate must be openend manually as shown and a purge command must be issued via the serial command interface Figure 4 2 Purging the feeder feeder with purge gate open flexfactory ag 24 04 2007 24 4 3 Removing Replacing the Backlight 1 Remove the 2 screws on either side of the feeder 2 Remove the brackets 3 Unscrew the power supply cables 4 Pull out backlight Figure 4 3 Exploded view with backlight removed 4 4 Replacing the Feed Surface
15. rge Feeds all parts gt ab 7 turns lt cr gt Executes a purge purge backward out gt ab 23 speed x 23 lt cr gt Sets number of purge turns Changes purge speed Turn motor power off Disables servo mode gt x 14 lt cr gt Turn motor power on Turns motor power on gt x 15 lt cr gt and move to home Stop stop Stops current action gt x 15 lt cr gt and moves feeder to home position Reset error Resets error status and gt x 30 lt cr gt Must be used after feeder reported an error moves feeder to home before new actions commands can be position executed Table 3 2 anyfeed SXM100 SD commands flexfactory ag 24 04 2007 19 3 3 Additional anyfeed SXM100 SD Serial Commands Command Short form Description Explanations Restart feeder firmware aborts current motions actions and restarts firmware gt S RUN lt cr gt Feeder will output m10 lt cr gt m20 lt cr gt as a greeting message Which indicates that the feeder is online Feeder must be initialized x 16 before it can execute action commands Parameters downloaded prior to the S RUN command are reset to default values Set digital outputs Activate Deactivate test mode Allows you to change the state of feeder internal digital outputs Table 3 3 Additional serial commands 3 4 Default Parameter Settings Parameter Default Value pO jabs 6 able 8 abis f o abli oo ab 20
16. rial commands With each command there is a maximum of two associated parameters which influence that command Note that some commands do not need any parameters During startup the anyfeed SXM100 SD firmware assigns default values to all parameters For example if you send the feeder a feed forward command without first changing any of its parameters the feeder control system will apply the default parameters see Table 3 7 for details Once a parameter associated with a command such as number of filp turns has been changed to a new value that value remains at the set value after the command was executed Best practice to keep communication time at a minimum is to download the command parameters after startup and then only invoke actions commands to feed manipulate parts 3 1 Conventions used to describe serial communication speed integer in the range 0 10 turns integer in the range 1 10 except for purge the range is 1 127 lt cr gt Carriage return ASCII code 13 decimal gt Symbolizes the prompt of a text terminal window Table 3 1 Convention to describe serial communication 3 2 anyfeed SXM100 SD Serial Action Commands Command Short form Description Syntax EMEC S gt x 16 lt cr gt Feed forward Feeds parts forward gt ab 1 turns lt cr gt Sets number of ffwd turns ffwd gt ab 17 speed x 17 lt cr gt Changes ffwd speed gt x 1 lt cr gt Execute a f
17. rity of 24VDC and OV will destroy the A ene servomotor inside the anyfeed SXM Connect RED marked wire to 24DC on your power supply Connect BLUE marked wire to OV GND of your power supply Connect BLACK marked wire to FRAME GND of your power supply Figure 2 6 DC Power Cable Provide 6 bar of compressed air to SXM front panel see figure 2 3 Use 4mm PU or PA air hose to do so Establish connection for camera strobe and pick signal using AUX port see figure 2 3 This step is optional and only used when a Cognex In Sight vision sensor with anyfeedWare CX is used to control the anyfeed SXM Pick 8 Le eee le JTL Controlling Device anyfeed SXM Typically vision system robot or PC Common GND Pick and Camera Strobe signal 24V anyfeed SXM stops sending out camera strobe pulses OV anyfeed SXM sends out camera strobe pulses This option is usually only installed in feeders which are used in combination with Cognex In Sight vision sensor Figure 2 7 Pick and camera strobe signal 24 04 2007 15 2 3 Verifying the Installation Start up HyperTerminal on your PC and setup a session with the following settings Data bits 8 Flow control a append line feed to each line sent ee append line feed to each line received Table 2 1 Serial communication settings v v v v Make sure the RS232 cable is pluged into the COM port you are using Make sure 24VDC power is t
18. s 10 1 12 Intended Use of the anyfeed SXM100 SD cccceseccccsseccecesececeesececeenecceeeesececeuneceseueeceeseeneeetseneess 10 1 13 Risks Due to Incorrect Installation or OPE ration cccccccssseccceseccccenecccesesececeuseceeeeeeceeeeenecessuneess 11 2 MASCOT O a core uae cvonuaeiconpouduetsausctscnns E 12 2 1 MUO UG CIO e caaeonsceessseus eet on godanancaseacaueooreesaoneat caineenem ys acecouseaataauneatcassacceseoune 12 2 2 instalation procedure persnr E seeteoneseauneeseaeeeseyseeaecersecteosiaeesesrannceses 13 2 3 Vernyine the IAstalatiON sssini a 16 2 4 Troubleshooting if feeder does not respond or work properly s eessssessesesseesesrrrserrerssrrresrreresrrreseeeee 17 SB E LS eeo p EE E E T A EE E EE NE 18 3 1 Conventions used to describe serial communication ssssssssseeressssssrerrresssssserrreesssssererreesssserereees 18 3 2 anyfeed SXM100 SD Serial Action COMMANGAG ccccccsseccccsscccceesecccceeccceeesececsueceeeeueceeseuseeetsuneess 18 3 3 Additional anyfeed SXM100 SD Serial CommandS s ssoessseseenessresesrrresrrersrrrresrrressreresrressseereseresseeee 20 3 4 Default Parameter Settings sseereneserseserererersresrrrerersressrrersreressererereressrrersreressrrererereserrersreressreeesses 20 3 5 How the anyfeed SX responds to commands receive side essssssssesrerssssrrrrserrrrrresrrrrresrrrrreesrens 21 3 5 1 PANO SII SS ean T nseietatennseaenewaneteasatsosaesecissadesesagiaaaouacd 21 3
19. s larger then 1 represent an error number 3 5 1 Dialog examples Initializing the feeder Terminal window Explanation For clarity text received is in bold inclined x 16 lt cr gt Send Init command m1i1 lt cr gt Motor Drive 1 understood command and is now busy indicated by the second 1 m10 lt cr gt Motor Drive 1 completed action successfully indicated by O Feeding parts forward Terminal Explanation window For clarity text received is in bold inclined x 1 lt cr gt Send feed forward command m1i1 lt cr gt Motor Drive 1 understood command and is now busy indicated by the second 1 m10 lt cr gt Motor Drive 1 completed action successfully flexfactory ag 24 04 2007 21 Changing the flip speed intensity Terminal window Explanation For clarity text received is in bold inclined ab 21 10 x 21 lt cr gt Sends the flip speed ab 21 and activates it with x 21 m11 lt cr gt Drive 1 command understood m10 lt cr gt Drive 1 finished Set feed flip forward turns and execute feed flip forward Terminal Explanation window For clarity text received is in bold inclined ab 3 6 x 3 lt cr gt Sends the feed flip forward turns ab 3 and executes the command x 3 mili lt cr gt Drive 1 command understood m10 lt cr gt Drive 1 finished Feeder not initialized Terminal Explana
20. sients Immunity to surges EN 61000 4 5 95 A1 01 Test passed Immunity to RF common mode EN 61000 4 6 96 A1 01 Voltage deviation EN 61000 4 11 94 A1 01 Test passed The flexible feeding system of type anyfeed SXM100 SD conforms with the protection requirements of the EMC Directive 98 37 EG by its design and type of construction CH 8953 Dietikon 10 April 2007 Flexfactory Sig B chi p Figure 1 1 Declaration of CE conformity flexfactory ag 24 04 2007 1 Overview 1 1 Introduction This manual describes the key points for getting your anyfeed SXM operational Before getting started make sure you have all the components necessary to set up your feeder In addition to the feeder shown in Figure 1 1 below it is assumed that you have a robot and vision system to work with the feeder You must have read and fully understood this manual before proceeding with the installation and operation of the anyfeed SXM100 SD Figure 1 1 anyfeed SXM100 SD with sample parts on feed surface 1 2 About Your anyfeed SXM100 SD The anyfeed SXM100 SD provides flexible parts feeding without the limitations of a hard tooled feed system such as a bowl feeder or tray feeding system The anyfeed SXM100 SDD is designed for feeding a wide variety of small parts with rapid change over times 1 3 Material Checklist The anyfeed SXM100 SD package includes e anyfeed SXM100 SD mechanism with integrated controls p n 002 285 000 B and LED backlig
21. sometimes also refered to as excentricity is 2mm When the feeder performs a feed flip dispense or purge operation some gaps between the moving feed platform and the stationary parts of the feeder are therefore narrowed by 2 2 4mm and represent therefore potenial pinch points Pinch Zone Pinch Zone either side of the either side of the marked zone marked zone Figure 1 2 anyfeed SXM100 SD pinch zones Injury Do not put your fingers or any other body parts inside the marked zones in figure 1 2 For maintanance and repair disconnect the feeder from power and compressed air flexfactory ag 24 04 2007 8 1 8 2 Pinch Points in combination with surrounding equipment Make sure you do not create new create new pinch points with surrounding equipment Safeguard screen Do not place any obstacles inside the feeder s work envelope Work envelope il Clearance lt 2mm Figure 1 3 anyfeed SXM work envelope Avoid creating new pinch points with surrounding pieces of equipment If it can not be avoided take appropriate safety measures and place warning labels near pinch points Obstacles that interfere with the feeder s work envelope may permanently damage the feeder or cause the feeder not to work properly Warning 1 9 Qualification of Personell This manual assumes that all personnel have received instructions on how to safely operate the robot and the feeder and have a working knowledge of the system
22. tion window For clarity text received is in bold inclined x 1 lt cr gt Sends a feed forward command to the feeder but the feeder has not been initialized before m1ili lt cr gt Drive 1 command understood m16 lt cr gt Drive 1 reports that it is not initialized Servo overload Terminal Explanation window For clarity text received is in bold inclined X 7 lt r Sends a purge command to the feeder m1i lt cr gt Drive 1 command understood m1 7 lt cr gt Drive 1 stops motion and reports error state 7 flexfactory ag 24 04 2007 22 Servo timeout Terminal window Explanation For clarity text received is in bold inclined x 6 lt cr gt Sends a dispense command to the feeder m11 lt cr gt Drive 1 reports error state m1 7 lt cr gt Drive 1 stops motion and reports error state 7 Unknown Command Terminal Explanation window For clarity text received is in bold inclined x 9 lt cr gt Sends command 9 an unknown command to the feeder m12 lt cr gt Drive 1 reports that this is an unknown command 3 6 Error Messages returned by the anyfeed SXM100 SD Error Error Message Details possible cause 12 Invalid command Motor 1 received a command which is not supported 13 Motor 1 reports a servo error Motor 1 is overloaded drive blocked 16 Motor 1 not i
23. ur flexfactory ag 24 04 2007 11 2 Installation 2 1 Introduction This chapter describes the installation procedure for the anyfeed SXM Bulk Container Excenter Drive Figure 2 1 anyfeed SXM100 SD with its major functional parts The feeder must be bolted or clamped down to the base plate at any time it is in operation Due to its working principle the feeder may walk off the base plate during operation if it is not properly secured to the base plate Do not connect the feeder to electrical power or compressed air before it is securely bolted or clamped down to the base plate flexfactory ag 24 04 2007 12 2 2 Installation procedure v Step 1 Unpack the feeder and check if all material is present according to the list below e anyfeed SXM100 SD mechanism with integrated controls p n 002 285 000 B and LED backlight e 4mm POM white flat feed surface p n 002 290 000 A e 24VDC power cable 5m p n002 114 001 E e RS232 Cable 4 5 m p n 002 116 000 e anyfeed SXM100 SD User s Guide p n 002 575 000 A v Step 2 Prepare a flat and stable mounting surface with a hole pattern as shown below 0 3 base plate 635 4x 4 20 y 14 M5 6H y 10 19 Taped mounting hole 120 530 30 downstream end of pick zone upstream end of pick zone with 3 4 image sensor ratio if short side of 170 image sensor is parallel to y axis upstream end of pic
24. urned ON and air pressure is ON Feeder is firmly attached to the base plate Type in the following commands to check if the feeder is working properly x 16 lt cr gt Feeder drives searches for the home sensor and then returns to up position m11 m10 x 1 lt cr gt m11 m10 x 2 lt cr gt m11 m10 x 3 lt cr gt m11 m10 x 4 lt cr gt m11 m10 x 5 lt cr gt m11 m10 Feeder moves parts forward put parts on surface Feeder moves parts backward Feeder flips parts forward You may need to increase the speed and number of revolutions to actually flip the part you have on the surface Feeder flips parts backward You may need to increase the speed and number of revolutions to actually flip the part you have on the surface Flips part forward and then backward flexfactory ag 24 04 2007 16 x 6 lt cr gt Parts are fed forward and the dispense gate opens briefly to let parts escape from m11 bulk storage into the pick zone m10 2 4 Troubleshooting if feeder does not respond or work properly Check serial connection Check serial communication settings KASAS Make sure 24VDC is ON and the power supply can deliver at least 5 amps Make sure the feed platform of the feeder is not blocked by surrounding obstacles If none of the actions taken help please contact flexfactory or your local supplier flexfactory ag 24 04 2007 17 3 Serial Communication Table 3 1 provides a list of all available anyfeed SXM100 SD se
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