Adept AnyFeeder User Manual

Adept AnyFeeder

User’s Guide

Adept AnyFeeder

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
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User’s Guide

P/N: 05284-002, Rev. B

January 2011

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is sub­ject to change without notice and should not be construed as a commitment by Adept Technology, Inc. This
manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc­umentation. Please email your comments to: [e-mail].

Copyright

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

HexSight, Meta Controls, MetaControls, Metawire, Motivity, Motivity by MobileRobots, Soft Machines,

and Visual Machines are registered trademarks of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

ACE, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder,

Adept Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350, Adept Cobra 350 CR/ESD, Adept

Cobra 550, Adept 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800,

Adept Cobra PLC server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800

Inverted, Adept Cobra Smart600, Adept Cobra Smart800, Adept DeskTop, Adept FFE, Adept FlexFeeder

Adept LineVision, Adept MB-10 ServoKit, Adept MC, Adept MotionBlox-10,

Adept MotionBlox-40L, Adept MotionBlox-40R, Adept MV, Adept MV-10, Adept MV-19,

Adept MV4, Adept MV-5, Adept MV-8, Adept OC, Adept PAC, Adept Python, Adept Quattro s650,

Adept Quattro s650H, Adept Quattro s650HS, Adept Quattro s800H, Adept Quattro s800HS, Adept sDIO,

Adept SmartAmp, Adept SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept

SmartModule, Adept SmartMotion, Adept SmartServo, Adept sMI6, Adept sSight, Adept Viper s650,

Adept Viper s850, Adept Viper s1300, Adept Viper s1700, Adept Viper s2000, AdeptCartesian, AdeptCast,

AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion, AdeptMotion Servo, AdeptMotion

VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL, AdeptRAPID, AdeptSight,

AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600, AdeptTCP/IP, AdeptThree,

AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVision, AVI AdeptVision, AGS AdeptVision GV,

AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS, AdeptVision XGS

II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline Editor,

AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series,

FlexFeedWare, HyperDrive, IO Blox, MicroV+, MotionBlox, MotionWare, ObjectFinder, ObjectFinder 2000,

PackOne, PalletWare, sAVI, S-Series, UltraOne, V, V+ and VisionTeach are trademarks of Adept

2007-2011 by Adept Technology, Inc. All rights reserved.

250, Adept IC, Adept iSight, Adept Impulse Feeder,

Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

Table of Contents

1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 About Your Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Other Items You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Sound Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.6 Workcell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.7 Qualification of Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.8 Safety Equipment for Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.9 Protection Against Unauthorized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.10 Safety Aspects While Performing Maintenance . . . . . . . . . . . . . . . . . . . . . . . 15

1.11 Risks That Cannot Be Avoided . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.12 Risks Due to Incorrect Installation or Operation. . . . . . . . . . . . . . . . . . . . . . . . 16

1.13 What to Do in an Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1.14 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.2 Unpacking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.3 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Preparing a Mounting Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Moving the Adept AnyFeeder to the Mounting Location . . . . . . . . . . . . . 23

2.4 Installing the Pneumatic Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.5 Installing Cables and Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Serial Cable Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Serial Cable Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Digital I/O Cable Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Digital I/O Cable Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Connecting the Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Setting the Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

2.6 Verifying the Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Adept AnyFeeder User’s Guide, Rev. B 5

Table of Contents

3 Using the AnyFeeder with Serial Communications . . . . . . . . . . . . . . . . 31

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.2 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.3 Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.4 Programming/Using the AnyFeeder with Adept ACE. . . . . . . . . . . . . . . . . . . . . 32

3.5 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Setting the Serial Port Communication Parameters . . . . . . . . . . . . . . . . . . . 32

3.6 Serial Command Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Sending Commands to the Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . 33

Adept AnyFeeder Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Standard Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

AnyFeeder Command Parameters Default Values . . . . . . . . . . . . . . . . . . . 38

Serial Dialog Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Initializing the AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Feeding Parts Forward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Changing the Feed Forward Repetitions and Execute. . . . . . . . . . 40

Set Feed/Flip Forward Turns and Execute . . . . . . . . . . . . . . . . . . . . . 40

AnyFeeder not Initialized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Flip Drive has a Servo Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Unknown Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

4 Using the AnyFeeder with Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.1 Digital I/O Wiring Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.2 Digital I/O Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Signal Handshake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

4.3 Commands and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.2 Periodic Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.3 Removing and Installing the Feed Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

6 Optional Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

6.2 Backlight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

7 Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

7.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

6 Adept AnyFeeder User’s Guide, Rev. B

Table of Contents

A Controlling the AnyFeeder from V+ . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

A.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

A.2 V+ Keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

VPARAMETER program instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

VRUN program instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

VWAITI program instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

VSTATE real-valued function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Example V+ Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Adept AnyFeeder User’s Guide, Rev. B 7

List of Figures

Figure 1-1. Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 2-1. AnyFeeder Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 2-2. Shipping Screws on Mounting Rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Figure 2-3. Preparing the Mounting Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Figure 2-4. Handles for Lifting/Moving the Adept AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Figure 2-5. Pneumatic Connector Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 2-6. Air Line Attached to Pneumatic Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Figure 2-7. System Cable Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 2-8. Serial Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Figure 2-9. DIO Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Figure 2-10. DC Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 2-11. 24 VDC In Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 2-12. Com Mode Selection Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Figure 2-13. I/O Power and Motor Power LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 2-14. Serial Mode Indicator LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Figure 4-1. Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 5-1. Feed Deck and Drive Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 6-1. Removing the Feed Platform Front Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Figure 6-2. Backlight Power Plug Installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Figure 6-3. Connection to Backlight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Figure 6-4. Securing Backlight to AnyFeeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Figure 7-1. Adept AnyFeeder Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Adept AnyFeeder User’s Guide, Rev. B 9

1.1 Introduction

This manual describes the key points for getting your Adept AnyFeeder operational.
Before getting started, make sure you have all the components necessary to set up your
Adept AnyFeeder. In addition to the Adept AnyFeeder (shown in Figure 1-1 below), it is
assumed that you have the appropriately configured Adept-controlled robot with vision
guidance. (See Section 1.3 and Section 2.1 for details.)

Overview 1

Figure 1-1. Adept AnyFeeder

1.2 About Your Adept AnyFeeder

Your Adept AnyFeeder provides flexible parts feeding without the limitations of a
hard-tooled feed system (such as a bowl-feeder or tray-feeding system). The Adept
AnyFeeder is designed for feeding a wide variety of parts with rapid change-over times.

Your Adept AnyFeeder package includes:

• Adept AnyFeeder SX240 (P/N 05284-001)

• White Flat Feed Surface (P/N 05284-101)

• 24 VDC Power Cable, 5 m (P/N 05284-301)

• Parallel DIO (Digital I/O) cable, 5 m (P/N 05284-302)

• RS232 Cable, 4.5 m (P/N 05284-303)

• RS232 Loopback Connector (not used for Serial installations) (P/N 05284-304)

Adept AnyFeed er User’ s Guide, Re v. B 11

Chapter 1 - Overview

To increase the flexibility of your Adept AnyFeeder, you may have ordered one or more
of the following options:

• Black Flat Feed Surface (P/N 05284-102)

• Red LED (590 nm wavelength) backlighting package (P/N 05284-201)

• Infrared LED (875 nm wavelength) backlighting package (P/N 05284-202)

1.3 Other Items You Need

• Adept robot (Adept Cobra s600/s800, Adept Cobra i600/i800, Adept Viper
s650/s850, etc.)

• Adept SmartController CX with Adept vision option installed

• Adept vision-guidance system

• Sturdy mounting table(s) for the Adept robot and Adept AnyFeeder

• Camera-mounting structure

• High-resolution camera with lens

• Camera interface cables

• Personal computer (for interfacing with and programming the robot and vision
system)

1.4 Warnings, Cautions, and Notes in Manual

There are six levels of special alert notation used in this manual. In descending order of
importance, they are:

DANGER: This indicates an imminently hazardous

electrical situation which, if not avoided, will result in
death or serious injury.

DANGER: This indicates an imminently hazardous

situation which, if not avoided, will result in death or
serious injury.

WARN IN G: This indicates a potentially hazardous

electrical situation which, if not avoided, could result in
injury or major damage to the equipment.

12 Adept AnyFeeder User ’ s Guide, Re v. B

WARN IN G: This indicates a potentially hazardous

situation which, if not avoided, could result in injury or
major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided,

could result in damage to the equipment.

NOTE: Notes provide supplementary information, emphasize a point or
procedure, or give a tip for easier operation.

1.5 Sound Emissions

The sound emission level of the Adept AnyFeeder depends on the type of parts being fed,
speed, and payload. The maximum value is 85 dB.

Sound Emissions

1.6 Workcell

The Adept robot systems used with the Adept AnyFeeder have a Manual and an
Automatic (
in the workcell.

In Manual mode, operators with additional safety equipment (see Section 1.8 on page 15)
are allowed to work in the workcell. For safety reasons the operator should, whenever
possible, stay outside of the workcell to prevent injury. The maximum speed and power
of the robot is reduced, but it could still cause injury to the operator.

Before performing maintenance in the workcell of the robot, High Power must be
switched off and the power supply of the robot must be disconnected. After these
precautions, a skilled person is allowed to maintain the robot. See Section 1.7 for the
specifications.

WARN IN G: Acoustic emission from the Adept AnyFeeder

may be up to 85 dB (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.

AUTO) operating mode. While in Automatic Mode, personnel are not allowed

Adept AnyFeed er User’ s Guide, Re v. B 13

Chapter 1 - Overview

WARN IN G:

Electrical Hazard!
Impact Hazard!
Never remove any safeguarding and never make changes
in the system that will decommission a safeguard.

1.7 Qualification of Personnel

This manual assumes that all personnel have attended an Adept training course and have
a working knowledge of the system. 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, Adept uses the standard
terms:

• Skilled persons have technical knowledge or sufficient experience to enable them
to avoid the dangers, electrical and/or mechanical.

• Instructed persons are adequately advised or supervised by skilled persons to
enable them to avoid the dangers, electrical and/or mechanical.

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.

WARN IN G: The user must get confirmation from every

entrusted person, before the person starts working with
the robot, that the person:

• Has received the manual

• Has read the manual

• Understands the manual

• Will work in the manner specified by the manual

14 Adept AnyFeeder User ’ s Guide, Re v. B

Safety Equipment for Operators

1.8 Safety Equipment for Operators

Adept advises operators to wear extra safety equipment in the workcell. For safety
reasons, operators must wear the following when they are in the robot workcell:

• Safety glasses

• Protective headgear (hard hats)

•Safety shoes

Install warning signs around the workcell to ensure that anyone working around the
robot system knows they must wear safety equipment.

1.9 Protection Against Unauthorized Operation

The system must be protected against unauthorized use. Restrict access to the keyboard
and the pendant by locking them in a cabinet or use another adequate method to prevent
access to them.

1.10 Safety Aspects While Performing Maintenance

Only skilled persons with the necessary knowledge about the safety and operation of the
equipment are allowed to maintain the robot and controller.

WARN IN G: During maintenance and repair, the power to

the SmartController and robot must be turned off. Use
lockout measures to prevent unauthorized users from
turning on power.

1.11 Risks That Cannot Be Avoided

Adept robot control system implementation has devices that disable High Power if a
system failure occurs. However, certain residual risks or improper situations could cause
hazards. The following situations may result in risks that cannot be avoided:

• Failure of software or electronics that may cause high-speed robot motion in
Manual mode

• Failure of hardware associated with enabling a device or an E-Stop system

Adept AnyFeed er User’ s Guide, Re v. B 15

Chapter 1 - Overview

1.12 Risks Due to Incorrect Installation or Operation

Certain risks will be present if installation or operation is not performed properly:

• Purposely defeating any aspect of the safety E-Stop system

• Improper installation or programming of the robot system

• Unauthorized use of cables other than those supplied or use of modified
components in the system

• Defeating an interlock so that an operator can enter a workcell with High Power
ON

Take precautions to ensure that these situations do not occur.

1.13 What to Do in an Emergency

Press any E-Stop button (a red push-button on a yellow background/field) and then
follow the internal procedures of your company or organization for an emergency. If a fire
occurs, use CO

to extinguish the fire.

2

1.14 How Can I Get Help?

For details on getting assistance with your Adept software or hardware, you can access
the following information sources on the Adept corporate website:

• For contact information: http://www.adept.com/contact/americas

• For product support information:

http://www.adept.com/support/service-and-support/main

• For user discussions, support, and programming examples:

http://www.adept.com/forum/

• For further information about Adept Technology, Inc.: http://www.adept.com

Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for additional

information on getting assistance with your Adept software and hardware.

Related Manuals

This manual covers the installation, operation, and maintenance of the Adept AnyFeeder
product. There are additional manuals that cover programming the system, reconfiguring
installed components, and adding optional components. See the following table. These
manuals are available on the Adept Document Library CD-ROM shipped with each
system.

16 Adept AnyFeeder User ’ s Guide, Re v. B

Manual Title Description

How Can I Get Help?

Adept SmartController
User’s Guide

Adept ACE User’s Guide Describes the installation and use of Adept ACE. This guide

AdeptSight Reference Guide Describes V+ and microV+ keywords and prope rties. Also

Contains complete information on the installation and oper ation
of the Adept SmartController and the optional sDIO product.

also provides information on ACE PackXpert packaging
applications.

describes framework and tool properties.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL from:

• the Adept Software CD shipped with your system

• the Adept website. Select Support > Document Library from the Adept home
page. To go directly to the Adept Document Library, type the following URL into
your browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the
ADL main page, or select one of the available menu options.

Adept AnyFeed er User’ s Guide, Re v. B 17

2.1 Introduction

This chapter describes the installation procedure for the Adept AnyFeeder.

In addition to installing the Adept AnyFeeder, you will need to install the following items
in the workcell:

• Robot: one of the following:

• Adept robot that interfaces with an Adept SmartController CX, running V+
version 16.x or later

OR

• Adept i-Series robot (Adept Cobra i600 or Adept Cobra i800 robot)

• Vision: an Adept SmartController CX

• Licenses: V+ Extension, Guided Vision

• An available serial port

Installation 2

• Camera: a user-supplied camera (with lens) and a vision system

• Camera interface cables

• User-supplied personal computer (for interfacing with and programming the
robot and vision system)

• All required safety devices (light curtains, guarding, etc.) for the workcell

Adept AnyFeed er User’ s Guide, Re v. B 19

Chapter 2 - Installation

Feed platform

Interface panel

Feed platform
front panel

Bulk container

Mounting rail

Pneumatic connector

2.2 Unpacking

This section describes the procedure for unpacking the Adept AnyFeeder.

Figure 2-1. AnyFeeder Parts

The Adept AnyFeeder is shipped in a carton that is banded onto a wooden pallet. The
shipping carton with pallet is approximately 1219 mm (48 in) x 762 mm (30 in) x 431.8 mm
(17 in) (L x W x H). The shipping carton with pallet weighs approximately 80 kg.

To unpack the Adept AnyFeeder:

1. Use a forklift or hand truck to move the shipping carton with pallet to the
installation area.

2. Cut the banding with a utility knife or scissors.

3. Raise the shipping carton cover straight up until it clears the contents, and then
remove it.

4. Detach the Adept AnyFeeder from the shipping pallet by using a 4 mm Allen
wrench and 10 mm wrench or socket to remove the four (4) screws from the
mounting rails of the Adept AnyFeeder, as shown in Figure 2-2.

20 Adept AnyFeeder User ’ s Guide, Re v. B

Figure 2-2. Shipping Screws on Mounting Rail

Unpacking

Adept AnyFeed er User’ s Guide, Re v. B 21

Chapter 2 - Installation

WARN IN G: The Adept AnyFeeder must be bolted or clamped down

to the base plate at any time it is in operation. Due to its working
principle the Adept AnyFeeder may “walk off” the base plate during
operation if it is not properly secured to the base plate.

WARN IN G: Do not connect the Adept AnyFeeder to electrical power

or compressed air before it is securely bolted or clamped down to the
base plate.

2.3 Mechanical Installation

This section describes the mechanical installation procedure for the Adept AnyFeeder.

Preparing a Mounting Location

Before the Adept AnyFeeder can be used, it must be securely mounted in a prepared
location within the robot’s workcell.

Prepare the mounting hole pattern as shown in Figure 2-3. Locate the mounting hole
pattern on the base plate so that at least 650 mm of the AnyFeeder’s base housing rests on
the base plate, as shown in Figure 2-3.

250

650

1125

Minimum Base Plate Contact

800

250

197

244.50

236250

38

284

237.50

309

Figure 2-3. Preparing the Mounting Location

22 Adept AnyFeeder User ’ s Guide, Re v. B

Moving the Adept AnyFeeder to the Mounting Location

WARN IN G: Two people must lift and move the Adept AnyFeeder to

the prepared location. Lift the Adept AnyFeeder only by holding it at
the base housing at the handles indicated below.

1. Find a co-worker to help you move the Adept AnyFeeder.

2. Lift the Adept AnyFeeder by the handles shown in Figure 2-4.

Mechanical Installation

Figure 2-4. Handles for Lifting/Moving the Adept AnyFeeder

3. Move the Adept AnyFeeder to the prepared mounting location.

4. Bolt the Adept AnyFeeder to the mounting location by inserting at least four (4)
M6 x 16 mm Allen screws with washers and lock washers through the holes in the
feeder’s mounting rails (use at least two screws in each mounting rail).

Adept AnyFeed er User’ s Guide, Re v. B 23

Chapter 2 - Installation

2.4 Installing the Pneumatic Line

This section describes the pneumatic installation procedure for the Adept AnyFeeder.

1. Locate the pneumatic connector below the side handle on the Adept AnyFeeder
(see Figure 2-5).

Figure 2-5. Pneumatic Connector Location

2. Prepare an 8 mm OD air line.

3. Attach the air line to the pneumatic connector (see Figure 2-6). Do not overtighten
the connection.

Figure 2-6. Air Line Attached to Pneumatic Connector

24 Adept AnyFeeder User ’ s Guide, Re v. B

2.5 Installing Cables and Power

This section describes the electrical installation procedure for the Adept AnyFeeder. The
Adept AnyFeeder requires the following cable connections:

• the 24 VDC power cable (supplied)

• the RS232 serial communications cable (supplied)

• the DIO (Digital I/O) cable (supplied)

System Cable Diagram

DIO Cable

Pins 13, 25: +24 VDC
Pins 12, 24: Ground

Installing Cables and Power

AnyFeeder Interface Panel

Black: Shield
Ground to
Power Supply
Case

NOTE: Refer to your robot user’s guide for additional system cable
information.

NOTE: The Adept AnyFeeder is equipped with fuses to protect the
internal components. The motor power 24 VDC input is protected with a
10 Amp fuse, and the parallel I/O 24 VDC lines are protected with a 3
Amp fuse. These fuses can be replaced in the field. If you suspect a
problem with one or both of these fuses, contact Adept Customer Service
(see Section 1.14 on page 16) for part information and instructions.

Red: +24 VDC
Blue: Ground
Black: Shield

User-supplied
24 VDC
power supply

Figure 2-7. System Cable Diagram

Note: To serial port on Adept
SmartController (for V+/AIM
applications) or to user-supplied
PC (for ACE/iSight applications)

Adept AnyFeed er User’ s Guide, Re v. B 25

Chapter 2 - Installation

Connects to serial
port on AnyFeeder

Connects to serial
port on robot controller
or PC

Serial Cable Installation

A serial communications cable is supplied with the Adept AnyFeeder (see Figure 2-8).
Connect the male end of the cable to the RS232 (J2) port on the Adept AnyFeeder. Connect
the female end of the cable to the serial port on the robot controller or PC.

Figure 2-8. Serial Cable

Serial Cable Wiring Assignments

Table 2-1 shows the wiring assignments for the supplied cable.

Table 2-1: Serial Cable Wiring Assignments

Pin #

DSUB 9 male

(to AnyFeeder)

2RX2
3TX3
5 GROUND 5

Function

Pin #

DSUB 9 female

(to controller)

26 Adept AnyFeeder User ’ s Guide, Re v. B

Installing Cables and Power

Digital I/O Cable Installation

A digital I/O cable is supplied with the Adept AnyFeeder (see Figure 2-9). Connect the
female end of the cable to the parallel I/O +24 VDC in I/O Pwr (J3) port on the Adept
AnyFeeder.

Figure 2-9. DIO Cable

Digital I/O Cable Wiring Assignments

The supplied digital I/O cable must be wired as shown in Table 2-2.

NOTE: If you want to communicate with your Adept AnyFeeder using
digital I/O rather than serial communications, refer to Chapter 4 for the
cable pin/wire assignments.

NOTE: Regardless of your method of communicating with the Adept
AnyFeeder (DIO or RS232 Serial), you must supply power to the logic
board through this cable on the pins specified in Table 2-2.

Table 2-2: Digital I/O Wiring Assignments

Function

+24 VD V 25 WH / BK +24 VDC
+24 VDC 13 WH / GN +24 VDC

0 VDC 24 BN / RD 0 VDC
0 VDC 12 RD / BU 0 VDC

Pin #

DSUB 25

Wire Color

Power Supply

Robot

Controller

Shield N/A BK Ground to Case

Adept AnyFeed er User’ s Guide, Re v. B 27

Chapter 2 - Installation

Connecting the Power Cable

1. Locate the DC power cable with connector that was supplied with the Adept
AnyFeeder (see Figure 2-10).

Figure 2-10. DC Power Cable

2. Connect the wire end of the cable to the user-supplied 24 VDC / 10 A regulated
power supply.

3. Attach the connector end of the cable to the Motor Power 24 VDC In (J1)
connector on the front of the Adept AnyFeeder (see Figure 2-11).

Figure 2-11. 24 VDC In Connector

28 Adept AnyFeeder User ’ s Guide, Re v. B

Installing Cables and Power

Setting the Switches

The Adept AnyFeeder will be set for serial communications. The Com Mode Selection
switches (see Figure 2-12) must be set as follows:

1. Move the A switch (selects Parallel I/O or RS232) to the down position, to select
Serial.

Figure 2-12. Com Mode Selection Switches

After changing the switch settings, you must cycle power to the Adept AnyFeeder.

• If the Adept AnyFeeder and connected equipment are powered from a common

source, you can turn that source off and then back on.

• If the Adept AnyFeeder and connected equipment are powered from different

sources, then you must disconnect and then reconnect the following cables:

• 24 VDC power cable. See “Connecting the Power Cable” on page 28 for
details

• Digital I/O interface cable. See “Digital I/O Cable Installation” on page 27
for details

Adept AnyFeed er User’ s Guide, Re v. B 29

Chapter 2 - Installation

2.6 Verifying the Installation

This section describes the procedure for verifying the Adept AnyFeeder after installation.

After wiring the system, turn on the 24 VDC power supply and verify that the two (2)
Status LEDs are on (see Figure 2-13).

Figure 2-13. I/O Power and Motor Power LEDs

Additionally, the LED shown in Figure 2-14 will blink to indicate Serial mode.

Figure 2-14. Serial Mode Indicator LED

30 Adept AnyFeeder User ’ s Guide, Re v. B

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.

Adept AnyFeed er User’ s Guide, Re v. B 31

Chapter 3 - Using the AnyFeeder with Serial Communications

3.4 Programming/Using the AnyFeeder with Adept ACE

You can use an AnyFeeder object (control panel) in Adept ACE to configure the
AnyFeeder for your application (in this case, you would likely use the Process Manager in
Adept ACE to create the application; the Process Manager allows you to include the
AnyFeeder object in your process). See the Adept ACE User’s Guide for information. See

Appendix A on page 57 for information on V+ programming.

3.5 Serial Communications

This section describes how to set up serial communications with the Adept AnyFeeder.

NOTE: If you want to communicate with your Adept AnyFeeder using
digital I/O rather than serial communications, refer to Chapter 4 for the
cable pin/wire assignments.

Setting the Serial Port Communication Parameters

In order for the SmartController CX to communicate properly with the Adept AnyFeeder,
you must configure the serial port as follows:

Table 3-1: Serial Port Settings

Item Setting

Baud rate 9600
Data bits 8
Stop bit 1
Parity none
Flow control none
In addition to the above:

- Disable local echo

- Append “line feed” to each line sent

- Append “line feed” to each line received

NOTE: The Adept AnyFeeder will not receive or send any serial data if
the baud rate is not set correctly.

32 Adept AnyFeeder User ’ s Guide, Re v. B

3.6 Serial Command Codes

The following sections describe:

• The serial commands that can be sent to the Adept AnyFeeder

• The default values for the Adept AnyFeeder command parameters

• How the Adept AnyFeeder responds to received commands

• Sample serial communications dialogs

Sending Commands to the Adept AnyFeeder

Table 3-3 provides a list of all available Adept AnyFeeder serial 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 Adept AnyFeeder firmware assigns default values to all parameters.
For example, if you send the Adept AnyFeeder a “feed forward” command without first
changing any of its parameters, the Adept AnyFeeder control system will apply the
default parameters (see Table 3-7 for details).

Serial Command Codes

Table 3-2: Description of Symbols used in Tables

Symbol Description

> Represents the prompt of a text terminal window
<cr> Carriage return, ASCII code 13 (decimal)
[speed] Integer in the range 1…10
[turns] Integer in the range 1…10, except for purge

(range is 1…127)
_ Explicit space (not an underscore)
Note that all text in the Syntax column is case sensitive

See Table 3-6, “Standard Responses,” on page 38 for a list of standard responses.

Table 3-3: AnyFeeder Serial Commands

Command Description Syntax Explanation Response

Feed Forward [ffwd] Feed parts forward > x=1<cr> Executes a feed

forward

Feed Backward [fbwd] Feed parts backward > x=2<cr> Executes a feed

backward

Standard response

Standard response

Feed + Flip Forward
[flipfwd]

Feed + Flip Backward
[flipbwd]

Flip parts forward > x=3<cr> Executes a flip

forward

Flip parts backward > x=4<cr> Executes a flip

backward

Adept AnyFeed er User’ s Guide, Re v. B 33

Standard response

Standard response

Chapter 3 - Using the AnyFeeder with Serial Communications

Table 3-3: AnyFeeder Serial Commands

Command Description Syntax Explanation Response

Flip [flip] Flip parts without moving

forward or backward

Dispense [dispense] Move parts from the bulk

container onto the feed
surface

Purge [purge] Feed parts out backwards,

purge gate must be opened
manually

Heavy Dispense
[hdisp]

Initialize [init] Move the An yFeeder into its

Stop [stop] Stop current action and move

Startup AnyFeeder
firmware

Aggressively mov e parts from
bulk container onto feed
surface

home position; required
before any other action can
take place

AnyFeeder to home position
Start AnyFeeder firmware

(also stops active motions)

> x=5<cr> Executes a flip Standard response

> x=6<cr> Executes a

dispense

> x=7<cr> Executes a purge Standard response

> x=8<cr> Executes a heavy

dispense

> x=16<cr> Initializes the

AnyFeeder

> x=15<cr> Executes a stop Standard response

> S_RUN<cr> Restarts AnyFeeder

firmware

Standard response

Standard response

Standard response

AnyFeeder will
respond:
m10<cr>
m20<cr>
to indicate
AnyFeeder is online

Reset Error Reset error status and moves

AnyFeeder to home position

Restart Firmware Restart AnyFeeder firmware;

resets all parameters to
default values

> x=30<cr> Resets error status Standard response

> x=31<cr> Restarts AnyFeeder

firmware and resets
defaults

Standard

Table 3-4: Setting Parameters

Command Description Syntax Explanation Response

Setting the Number of Repetitions

Set Feed Forward
repetitions

Set Feed Forward
repetitions and
execute feed
forward

Set number of
repetitions for feed
forward

Set number of
repetitions for feed
forward and
exec ut e mo tion

> ab[1]=[turns]<cr> Sets repetitions No response

> ab[1]=[turns]_x=1<cr> Sets repetitions and

executes motion

Standard
response

response

34 Adept AnyFeeder User ’ s Guide, Re v. B

Serial Command Codes

Table 3-4: Setting Parameters

Command Description Syntax Explanation Response

Set Feed Backward
repetitions

Set Feed Backward
repetitions and
execute feed
backward

Set Feed + Flip
Forward repetitions

Set Feed + Flip
Forward repetitions
and execute flip
forward

Set Feed + Flip
Backward
repetitions

Set Feed + Flip
Backward
repetitions and
execute flip
backward

Set number of
repetitions for feed
backward

Set number of
repetitions for feed
backward and
exec ute motion

Set number of
repetitions for feed
flip forward

Set number of
repetitions for feed
flip forward and
exec ute motion

Set number of
repetitions for feed
flip backward

Set number of
repetitions for feed
flip backward and
exec ute motion

> ab[2]=[turns]<cr> Sets repetitions No response

> ab[2]=[turns]_x=2<cr> Sets repetitions and

executes motion

> ab[3]=[turns]<cr> Sets repetitions No response

> ab[3]=[turns]_x=3<cr> Sets repetitions and

executes motion

> ab[4]=[turns]<cr> Sets repetitions No response

> ab[4]=[turns]_x=4<cr> Sets repetitions and

executes motion

Standard
response

Standard
response

Standard
response

Set Flip Repetitions Set number of

repetitions for flip

Set Flip Repetitions
and execute flip

Set Dispense
Repetitions

Set Dispense
Repetitions and
execute disp

Set Purge
Repetitions

Set Purge
Repetitions and
execute purge

Set Heavy
Dispense
Repetitions

Set number of
repetitions for flip
and execute motion

Set number of
repetitions for
dispense

Set number of
repetitions for
dispense and
exec ute motion

Set number of
repetitions for purge

Set number of
repetitions for purge
and execute motion

Set number of
repetitions for heavy
dispense

> ab[5]=[turns]<cr> Sets repetitions No response

> ab[5]=[turns]_x=5<cr> Sets repetitions and

executes motion

> ab[6]=[turns]<cr> Sets repetitions No response

> ab[6]=[turns]_x=6<cr> Sets repetitions and

executes motion

> ab[7]=[turns]<cr> Sets repetitions No response

> ab[7]=[turns]_x=7<cr> Sets repetitions and

executes motion

> ab[8]=[turns]<cr> Sets repetitions No response

Standard
response

Standard
response

Standard
response

Adept AnyFeed er User’ s Guide, Re v. B 35

Chapter 3 - Using the AnyFeeder with Serial Communications

Table 3-4: Setting Parameters

Command Description Syntax Explanation Response

Set Heavy
Dispense
Repetitions and
exec ute heavy
dispense

Set number of
repetitions for heavy
dispense and
exec ut e mo tion

Setting the Speed of Operation

Set Feed Forward
speed

Set Feed Backward
speed

Set Feed + Flip
Forward speed

Set Feed + Flip
Backward speed

Set Flip speed Set speed of flip

Set Dispense speed Set speed of

Set Purge speed Set speed of purge

Set speed of feed
forward op e ration

Set speed of feed
backward operation

Set speed of feed
flip forward
operation

Set speed of feed
flip backward
operation

operation

dispense operation

operation

> ab[8]=[turns]_x=8<cr> Sets repetitions and

executes motion

> ab[17]=[speed]_x=17<cr> Sets speed Standard

> ab[18]=[speed]_x=18<cr> Sets speed Standard

> ab[19]=[speed]_x=19<cr> Sets speed Standard

> ab[20]=[speed]_x=20<cr> Sets speed Standard

> ab[21]=[speed]_x=21<cr> Sets speed Standard

> ab[22]=[speed]_x=22<cr> Sets speed Standard

> ab[23]=[speed]_x=23<cr> Sets speed Standard

Standard
response

response

response

response

response

response

response

response

Set Heavy
Dispense speed

Backlight/Strobe
mode

Vision trigger
interval

Vision trigger delay Sets the vision

Set speed of heavy
dispense operation

Set the state of the
optional Backlight (if
installed)

Sets the vision
trigger interval in
multiples of 20 ms

trigger delay in
multiples of 20 ms.
The trigger delay
starts after a
AnyFeeder action
has completed.

> ab[24]=[speed]_x=24<cr> Sets speed Standard

response

Other Settings

> ab[12]=[mode] Mode:

0: Backlight is OFF
1: Backlight is ON
(default)
2: Backlight is strobed
(controlled by settings
“trigger interval” and
“trigger delay”)

> ab[25]=[value]_x=25<cr> Range for value is

1…63
Default is 240 ms
(value=12)

> ab[26]=[value]_x=26<cr> Range for value is

1…63
Default is 500 ms
(value=25)

No response

No response

No response

36 Adept AnyFeeder User ’ s Guide, Re v. B

Serial Command Codes

Table 3-4: Setting Parameters

Command Description Syntax Explanation Response

Set digital output Set the state of the

AnyFeeder's
internal digital
outputs. It is not
recommended to
set these during
normal operation,
only for debugging
purposes.

Adept AnyFeeder Responses

After receiving a command, the Adept AnyFeeder will respond with specific characters to
indicate the status of each motor in the mechanism.

Motor 1: The “flip” drive, located to the front of the AnyFeeder, under the feed surface

Motor 2: The “dispense” drive, located to the rear of the AnyFeeder, under the bulk
container

Responses

mix

> ab[27]=[mode]_x=27<cr> Mode:

0: Engage the
dispense clutch
1: Engage the flip
clutch
2:Turn backlight OFF
3:Turn backlight ON
4: Move retainer gate
UP
5: Move retainer gate
DOWN

Standard
response

Where:

i = the drive number (1 or 2) that is reporting

x = the status of the drive

Table 3-5: AnyFeeder Responses

Response Meaning Details

m10 Motor 1 completed action successfully
m11 Motor 1 received command and is busy
m12 Invalid command Command or command syntax incorrect
m13 Motor 1 servo error Possibly overloaded. Check for obstructions or

hardware problems. Error must be reset before
operation can continue.

m16 Motor 1 not initialized AnyFeeder must be initialized before

commands can be sent

m17 Motor 1 error state Motor 1 reporting an error. Error must be reset

before operation can continue.

m20 Motor 2 completed action successfully

Adept AnyFeed er User’ s Guide, Re v. B 37

Chapter 3 - Using the AnyFeeder with Serial Communications

Table 3-5: AnyFeeder Responses

Response Meaning Details

m21 Motor 2 received command and is busy
m22 Invalid command Command or command syntax incorrect
m23 Motor 2 servo error Possibly overloaded. Check for obstructions or

hardware problems. Error must be reset before
operation can continue.

m26 Motor 2 not initialized AnyFeeder must be initialized before

commands can be sent.

m27 Motor 2 error state Motor 2 reporting an error. Error must be reset

before operation can continue.

m28 Timeout- no sync-signal received The sync-signal was not received f rom Motor 1.

Therefore, Motor 2 cannot start its action.

Standard Responses

During normal operation, the responses you should expect to see from the AnyFeeder are
as follows.

Table 3-6: Standard Responses

a

Response Meaning

m21<cr> Motor 2 understood command and is busy
m11<cr> Motor 1 understood command and is busy
m20<cr> Motor 2 completed action successfully and is OK
m10<cr> Motor 1 completed action successfully and is OK

a

Motors 1 and 2 may report back in different orders,
meaning sometimes motor 1 will report back first and
sometimes motor 2 will report back first.

Because the two motors perform different motions during

the same operation, there will be some time between the
responses.

AnyFeeder Command Parameters Default Values

Table 3-7 shows the default values for the AnyFeeder command parameters. Note that

whenever the AnyFeeder’s firmware is reset, the parameters return to these default
values.

Table 3-7: Parameter Default Values

Parameter Default Value

ab[1]=3 default feed forward repetitions
ab[2]=3 default feed backward repetitions

38 Adept AnyFeeder User ’ s Guide, Re v. B

Table 3-7: Parameter Default Values

Parameter Default Value

ab[3]=3 default feed and flip forward repetitions
ab[4]=3 default feed and flip backward repetitions
ab[5]=3 default flip repetitions
ab[6]=3 default dispense repetitions
ab[7]=64 default purge repetitions
ab[8]=3 default heavy dispense repetitions
ab[17]=1 feed forward speed
ab[18]=1 fe ed ba ckward speed
ab[19]=1 feed/flip forward speed
ab[20]=1 feed/flip backward speed
ab[21]=1 flip speed
ab[22]=1 dispense speed
ab[23]=1 purge speed

Serial Command Codes

Serial Dialog Examples

This section provides some examples of serial communication streams for basic Adept
AnyFeeder operations.

Initializing the AnyFeeder

Table 3-8 shows responses to the

Table 3-8: Initializing the AnyFeeder

Terminal

Window

m21<cr> Motor/Drive 2 understood command and is now busy, indicated by the

'1'

m11<cr> Motor/Drive 1 understood command and is now busy, indicated by the

second '1'
m10<cr> Motor/Drive 1 completed action successfully, indicated by '0'
m20<cr> Motor/Drive 2 completed action successfully

Feeding Parts Forward

Table 3-9 shows responses to the

Table 3-9: Feeding Parts Forward

Init command (x=16<cr>).

Explanation

Feed Forward command (x=1<cr>).

Terminal

Window

m21<cr> Motor/Drive 2 understood command and is now busy, indicated by the

'1'

Explanation

Adept AnyFeed er User’ s Guide, Re v. B 39

Chapter 3 - Using the AnyFeeder with Serial Communications

Table 3-9: Feeding Parts Forward

Terminal

Window

m11<cr> Motor/Drive 1 understood command and is now busy, indicated by the

second '1'

m20<cr> Motor/Drive 2 completed action successfully, indicated by '0'; in feed

commands the 'dispense drive' does not execute a motion, but still
confirms that it accepted the command and is 'alive'. A consistent
drive reporting scheme is easier to handle by the receiving host
computer and the additional communication overhead is minimal.

m10<cr> Motor/Drive 1 completed action successfully

Explanation

Changing the Feed Forward Repetitions and Execute

Table 3-10 shows responses to the Feed Forward Repetitions and Execute command

ab[1]=10 x=1<cr>).

(

Table 3-10: Changing the Flip Speed/Intensity

Terminal

Window

m21<cr> Drive 2 command understood
m11<cr> Drive 1 command understood
m10<cr> Drive 1 finished
m20<cr> Drive 2 finished

Explanation

Set Feed/Flip Forward Turns and Execute

Table 3-11 shows responses to the Feed/Flip Forward Turns and Execute command

ab[3]=6 x=3<cr>).

(

Table 3-11: Set Feed/Flip Forward Turns and Execute

Terminal

Window

m21<cr> Drive 2 command understood
m11<cr> Drive 1 command understood
m10<cr> Drive 1 finished
m20<cr> Drive 2 finished

Explanation

AnyFeeder not Initialized

Table 3-12 shows responses to the

initialized

(x=1<cr>).

Feed Forward command before the AnyFeeder has been

Table 3-12: AnyFeeder not Initialized

Terminal

Window

m26<cr> Drive 2 reports that it is not initialized

Explanation

40 Adept AnyFeeder User ’ s Guide, Re v. B

Table 3-12: AnyFeeder not Initialized

Serial Command Codes

Terminal

Window

m16<cr> Drive 1 reports that it is not initialized

Explanation

Flip Drive has a Servo Problem

Table 3-13 shows responses to the

Flip command when the flip drive has a servo problem

(x=5<cr>).

Table 3-13: Flip Drive has a Servo Problem

Terminal

Window

m21<cr> Drive 2 reports that it is not initialized
m11<cr> Drive 1 reports that it is not initialized
m20<cr> Drive 2 reports end of motion
m13<cr> Drive 1 reports a servo error

Explanation

Unknown Command

Table 3-14 shows responses to an unknown

command (x=9<cr>).

Table 3-14: Unknown Command

Terminal

Window

m22<cr> Drive 2 reports that this is an unknown command
m12<cr> Drive 1 reports that this is an unknown command

Explanation

Adept AnyFeed er User’ s Guide, Re v. B 41

Using the AnyFeeder with

4.1 Digital I/O Wiring Assignments

To use the Adept AnyFeeder system with digital I/O communications, refer to Table 4-1
for the cable pin/wire assignments.

Table 4-1. Digital I/O Wiring Assignments

Digital I/O 4

AnyFeeder Function

+24 VDV 25 WH / BK +24 VDC

+24 VDC 13 WH / GN +24 VDC

0 VDC 24 BN / RD 0 VDC
0 VDC 12 RD / BU 0 VDC
OUT 1 14 BN / GN IN 1
OUT 2 1 WH IN 2
OUT 3 15 WH / YE IN 3
OUT 4 2 BN IN 4
OUT 5 16 YE / BN IN 5
OUT 6 3 GN IN 6
OUT 7 17 WH / GY IN 7
OUT 8 4 YE IN 8

IN 1 18 GY / BN OUT 1

AnyFeeder Pin #

DSUB 25

Wire Color

Pow er Supply/

SmartController

Function

IN 2 5 GY OUT 2
IN 3 19 WH / PK OUT 3
IN 4 6 PK OUT 4
IN 5 20 PK / BN OUT 5
IN 6 7 BU OUT 6
IN 7 21 WH / BU OUT 7

Adept AnyFeed er User’ s Guide, Re v. B 43

Chapter 4 - Using the AnyFeeder with Digital I/O

Table 4-1. Digital I/O Wiring Assignments

AnyFeeder Function

IN 8 8 RD OUT 8

IN 9 22 BN / BU OUT 9
IN 10 9 BK OUT 10
IN 11 23 WH / RD OUT 11
IN 12 10 VT OUT 12

not used 11 GY / PK not used

Shield, ground to case N/A BK

AnyFeeder Pin #

DSUB 25

4.2 Digital I/O Communications

This section describes the Adept AnyFeeder system digital I/O communications.

Signal Handshake

Wire Color

Pow er Supply/

SmartController

Function

Communication works on the basis of a master/slave relationship. For a given situation,
the master sends the Adept AnyFeeder a command, the Adept AnyFeeder confirms
reception of the command, executes it, and reports the status back to the master (whether
the command completed successfully or not).

As viewed from the robot/controller (master) side, the digital I/O interface consists of 12
digital outputs and 8 digital inputs (see Figure 4-1).

• The 12 outputs are used by the master controller to send the Adept AnyFeeder an
action command or set a parameter.

• The 8 inputs return information about the Adept AnyFeeder status and report if an
action has been completed.

44 Adept AnyFeeder User ’ s Guide, Re v. B

Digital I/O Communications

Outputs

(12)

Inputs

(8)

Inputs

Outputs

Figure 4-1. Digital Inputs and Outputs

The handshake for the command cycle works as follows:

1. Master outputs the binary representation of a command’s decimal value to cmd
bits 0 thru 4.

2. Master outputs the binary representation of a parameter’s decimal value to data
bit 0 through 5.

3. Master sets the STROBE signal to HIGH, to tell the Adept AnyFeeder that a valid
command and parameter can be fetched from the corresponding Adept
AnyFeeder input sets.

4. When the Adept AnyFeeder sees the STROBE go HIGH, it sets ACKNOWLEDGE
and BUSY to HIGH and reads in the command and the parameter.

5. When the master sees ACKN go HIGH, it sets STROBE to LOW.

6. Upon completion of the command, the Adept AnyFeeder sets BUSY to LOW. If
the command could not be completed successfully, the Adept AnyFeeder sets
ERROR to HIGH and outputs an error code to data bits 0 through 4.

Adept AnyFeed er User’ s Guide, Re v. B 45

Chapter 4 - Using the AnyFeeder with Digital I/O

4.3 Commands and Parameters

Table 4-2. Commands and Parameters

cmd

(Decimal

Value)

Action Commands

1 feed-forward 1...64 feed-forward

2 feed-backward 1...64 feed-backward

3 feed-/flip-forward 1...64 feed-/flip-forward

4 feed-/flip-backward 1...64 feed-/flip-backward

cmd Description

param

(Decimal

Value)

param Description Details

repetitions

repetitions

repetitions

repetitions

Moves parts on
feed plate
forward.

Moves parts on
feed plate
backward.

Moves parts on
feed plate
forward and flips
them at the same
time.

Moves parts on
feed plate
backward and
flips them at the
same time.

5 flip 1...64 flip repetitions Flips parts on the

feed plate.

6 dispense 1...64 dispense

repetitions

7 purge 1...64 purge repetitions Feeds parts on

14 turn off servo

motors

16 initialize - - Must be sent

- - Turns off both

Dispenses parts
from the bulk
container onto
the feed plate.

the feed plate
and in the bulk
container
backward.

servo motors.

prior to any other
action command.

46 Adept AnyFeeder User ’ s Guide, Re v. B

Commands and Parameters

Table 4-2. Commands and Parameters

cmd

(Decimal

Value)

30 reset error

31 restart feed

Commands to Set Parameters

17 set feed-forward

18 set feed-backward

19 set

cmd Description

condition

firmware

speed

speed

feed-/flip-forward
speed

param

(Decimal

Value)

- - Must be

- - Performs a ‘soft’

1...10 feed-forward speed default = 1;

1...10 feed-backward

1...10 feed-/flip-forward

param Description Details

executed after
feeder reports an
error; feed plate
and bulk
container are
moved to the
home position.

restart of feeder
firmware.

10 max.
default = 1;

speed

intensity

10 max.
default = 1;

10 max.

20 set

feed-/flip-backward
intensity

21 set flip intensity 1...10 flip intensity default = 1;

22 set dispense feed 1...10 dispense feed default = 1;

23 set purge speed 1...10 purge speed default = 1;

1...10 feed-/flip-backward
intensity

default = 1;
10 max.

10 max.

10 max.

10 max.

Adept AnyFeed er User’ s Guide, Re v. B 47

5.1 Introduction

This chapter describes:

• The periodic maintenance required for the Adept AnyFeeder

• The replacement procedure for the feed surface

• The adjustment procedure for the feed-deck height

5.2 Periodic Maintenance

Table 1 shows the periodic (routine) maintenance tasks required for the Adept

AnyFeeder.

Table 1: Periodic Maintenance Tasks

Item Description Interval

Maintenance 5

Feed surface Clean upper side of feed surface and

frame with a non-abrasiv e, no-residue
cleaner, such as rubbing alcohol or
window cleaner. Failure to do this may
degrade vision performance.

Feed surface and
support

Backlight Remove side panel and clean upper

Servo valve Check the two plastic silencers that

Remove feed surface and clean
bottom side with a non-abrasive,
no-residue cleaner, such as rubbing
alcohol or window cleaner.
Clean support surface and glass
window with alcohol.
Failure to do this may degrade vision
performance.

side of backlight.
Failure to do this may degrade vision
performance.

are screwed into the servo valve to
see if they are blocked with oil. If
needed, replace the silencers.
Failure to do this may degrade
AnyFeeder performance.

Weekly

Monthly

Quarterly

Annually

Adept AnyFeed er User’ s Guide, Re v. B 49

Chapter 5 - Maintenance

WARN IN G: Follow proper lockout procedures before performing this

service procedure. Failure to do so could result in injury.

NOTE: Maintenance intervals may require adjustment based on
environment and/or application conditions. If you are feeding dirty parts
or if bulk parts contain debris, you may need to shorten the maintenance
interval in order to maintain optimum performance of the equipment.

5.3 Removing and Installing the Feed Surface

The feed surface is subject to wear during normal system use and will need to be replaced
periodically. To replace the feed surface:

1. Purge all parts from the Adept AnyFeeder.

2. Turn off the power and air supply to the Adept AnyFeeder.

3. Disconnect the I/O cable from the front of the Adept AnyFeeder.

4. Loosen the screws on the side rails.

5. Remove the feed surface by sliding it out of the rear end of the Adept AnyFeeder.

6. After the existing feed surface has been removed, clean all residue from the
exposed feed deck. (See Figure 5-1.)

Figure 5-1. Feed Deck and Drive Block

50 Adept AnyFeeder User ’ s Guide, Re v. B

Removing and Installing the Feed Surface

CAUTION: Use only a non-abrasive, no-residue cleaner, such as

rubbing alcohol or window cleaner applied to a clean shop towel. Do
not spray cleaner directly onto the feed deck.

a. Spray the cleaning product onto a clean shop towel.

b. Wipe the feed deck with the shop towel to remove any dirt or debris.

7. Unpackage the new feed surface. The feed surface is self-lubricating. Therefore,
no lubricants should be applied to the feed surface.

8. Slide the new feed surface into the feed deck.

9. Re-tighten the screws on the side rails.

10. Turn on the power and air supply to the Adept AnyFeeder.

Adept AnyFeed er User’ s Guide, Re v. B 51

6.1 Introduction

This chapter describes optional equipment that is available for the Adept AnyFeeder.

6.2 Backlight

This section describes the procedure for installing the backlight option on the Adept
AnyFeeder. A red (P/N 05284-201) and an infrared (P/N 05284-202) backlight are
available.

1. Slide out the feed surface from the back of the Adept AnyFeeder.

2. Use a 2.5 mm Allen wrench and 7 mm wrench or socket to remove the two screws
from the feed platform front cover.

Optional Equipment 6

Figure 6-1. Removing the Feed Platform Front Cover

3. Insert the backlight power plug into the 4-pin connector in the Adept
AnyFeeder’s base housing. Screw in the plug to secure it in place. Make sure the
plug is oriented toward the back of the Adept AnyFeeder, as shown in the
following illustration.

Adept AnyFeed er User’ s Guide, Re v. B 53

Chapter 6 - Optional Equipment

Figure 6-2. Backlight Power Plug Installed

4. Route the two small plugs of the backlight power cable through the front of the
feed platform and connect them to two connectors on the back of the backlight.

Figure 6-3. Connection to Backlight

5. Slide the backlight through the front of the feed platform.

6. Use a 3 mm Allen wrench to install four screws at the corners of the backlight to
secure it to the Adept AnyFeeder.

Figure 6-4. Securing Backlight to AnyFeeder

7. Reinsert the feed surface from the back of the Adept AnyFeeder and reinstall the
feed platform front cover using two screws.

54 Adept AnyFeeder User ’ s Guide, Re v. B

Dimension Drawings 7

7.1 Dimensions

This section provides the critical dimensions for the Adept AnyFeeder.

2.50

332
268

434

125 125 125 125 125 125

800

1125

320

236

197

244.50

38

240

284

309

237.50

Figure 7-1. Adept AnyFeeder Dimensions

Adept AnyFeed er User’ s Guide, Re v. B 55

The Adept AnyFeeder can be controlled from a V+ program. This appendix provides an overview
of that process. This feature requires AdeptSight version 3.1 or later.

NOTE: Although the Adept AnyFeeder can be controlled from a V+ program,
Adept recommends that you use the graphical interface provided in the Adept
ACE software. For details, see the Adept ACE User’s Guide.

A.1 Overview

When a V+ vision (AdeptSight) keyword is used in a V+ program, the corresponding function on
the PC side checks the specified index:

• If the index corresponds to an AdeptSight vision sequence, it executes that sequence.

• If it corresponds to an Adept AnyFeeder, it executes control for the Adept AnyFeeder.

Controlling the

AnyFeeder from V+ A

NOTE: The Adept AnyFeeder index can be set using the Adept AnyFeeder object

editor in the Adept ACE software. For details on the AnyFeeder object editor, see
the Adept ACE User’s Guide.

CAUTION: If an AdeptSight vision sequence and an Adept AnyFeeder

have the same index value, only the AdeptSight vision sequence will be
executed. This prevents any conflict with an existing AdeptSight vision
system when adding an Adept AnyFeeder.

A.2 V+ Keywords

The following pages describe the V+ keywords in the AdeptSight software that can be used to
control the Adept AnyFeeder. Each page provides the syntax and details for controlling the Adept
AnyFeeder. For details on the AdeptSight software vision functionality of the keyword, see that
keyword description in the AdeptSight Reference Guide.

NOTE: This feature requires AdeptSight version 3.1 or later.

Adept AnyFeeder User’s Guide, Rev B 57

Controlling the AnyFeeder from V+

VPARAMETER program instruction

Description

Writes an Adept AnyFeeder parameter.

Syntax

VPARAMETER(anyfeeder.id, -1, parameter.id, -1, -1) $ip = parameter.value

Parameters

anyfeeder.id The AnyFeeder index specified in the Adept AnyFeeder object editor.
parameter.id The code corresponding to the parameter to read or write. as shown in

the following table.
$ip IP address of the PC to which the Adept AnyFeeder is connected.
parmeter.value The value of the parameter. If the specified value is outside of the

allowed range, as specified in the following table, the command is

ignored.

Table A-1. VPARAMETER Parameter Indexes

Parameter Code

AnyFeederVRunCommand 6000 Value

Value

(Range)

shown in

Table A-2

Description

Sets the AnyFeeder command that
will be called on a VRUN. For more
details, see Table A-2.

AnyFeederFeedForwardSpeed 6001 0 to 10 Sets the speed for the feed-forward

operation.

AnyFeederDispenseSpeed 6002 0 to 10 Sets the speed for the dispense

operation.
AnyFeederFlipSpee d 6003 0 to 10
AnyFeederPurgeSp eed 6004 0 to 10
AnyFeederFeedBackwardSpeed 6005 0 to 10

AnyFeederHeavyDispenseSpeed 6006 0 to 10

AnyFeederFeedFlipForwardSpeed 6007 0 to 10

Sets the

Sets the

Sets the speed of the feed-backward

operation.

Sets the speed of the heavy-dispense

operation.

Sets the speed of the feed flip-forward

operation.

speed of the flip operation.
speed of the purge operation.

AnyFeederFeedFlipBackwardSpeed 6008 0 to 10

AnyFeederFeedForwardIterations 6011 1 to 63

Sets the speed of the feed flip-backward

operation.

Sets the number of iterations for feed

forward.

58 Adept AnyFeeder User’s Guide, Rev B

Table A-1. VPARAMETER Parameter Indexes

V+ Keywords

Parameter Code

AnyFeederDispenseIterations 6012 1 to 63

AnyFeederFlipIterations 6013 1 to 63
AnyFeederPurgeIterations 6014 1 to 63
AnyFeederFeedBackwardIterations 6015 1 to 63

Value

(Range)

Description

Sets the number of iterations for

dispense.

Sets the number of iterations for flip.

Sets the number of iterations for purge.

Sets the number of iterations for feed

backward.

AnyFeederHeavyDispenseIterations 6016 1 to 63 Sets the number of iterations for

heavy dispense.
AnyFeederFeedFlipForwardIterations 6017 1 to 63

AnyFeederFeedFlipBackwardIterations 6018 1 to 63

Sets the number of iterations for feed flip

forward.

Sets the number of iterations for feed flip

backward.

Adept AnyFeeder Use r’ s Guide, Rev B 59

Controlling the AnyFeeder from V+

VRUN program instruction

Description

Initiates the specified operation of the Adept AnyFeeder.

Syntax

VRUN $ip, anyfeeder.id

Parameters

$ip IP address of the PC to which the Adept AnyFeeder is connected.
anyfeeder.id The AnyFeeder index specified in the Adept AnyFeeder object editor.

Operation and Values

The command codes correspond to the Adept AnyFeeder device command codes, with the
exceptions of “100” and “101”, which do not follow this format.

Table A-2. AnyFeeder VRUN Command Operation and Values

Operation Value

FeedForward 1
FeedBackward 2
FeedFlipForward 3
Flip 5
Dispense 6
Purge 7
HeavyDispense 8
Stop 15
Init 16
SetOutput 27
ErrorReset 30
FirmwareRestart 31
SwitchBacklightON 100
SwitchBacklightOFF 101

Details

The Adept AnyFeeder runs the command that was selected by the AnyFeederVRunCommand
(6000) parameter (see Table A-1). VRUN returns after the Adept AnyFeeder operation starts or,
eventually, on an Adept AnyFeeder error.

60 Adept AnyFeeder User’s Guide, Rev B

VWAITI program instruction

Description

Pauses program execution until the current Adept AnyFeeder operation has completed.

Syntax

VWAITI (anyfeeder.id) $ip, type

Parameters

anyfeeder.id The AnyFeeder index specified in the Adept AnyFeeder object editor.
$ip IP address of the PC to which the Adept AnyFeeder is connected.
type 0 Wait for full completion (default).

Details

Use VWAITI call after VRUN.

V+ Keywords

Contrary to vision sequences, when VWAITI is used with the Adept AnyFeeder, it always waits
for full completion of the current Adept AnyFeeder operation. Therefore, the type parameter can
be omitted.

Adept AnyFeeder Use r’ s Guide, Rev B 61

VSTATE real-valued function

Description

Returns the Adept AnyFeeder status.

Syntax

VSTATE($ip, anyfeeder.id)

Parameters

$ip IP address of the PC to which the Adept AnyFeeder is connected.
anyfeeder.id The AnyFeeder index specified in the Adept AnyFeeder object editor.

Details

The following table shows the possible returned values and corresponding Adept AnyFeeder
status.

Table A-3. AnyFeeder Status and Returned Values

Status Value

Idle 0
Running 1
Error 4

V+ Keywords

Example V+ Code

The following V+ code provides an example of implementing Adept AnyFeeder control through a
V+ program. For proper functionality, this code would be used along with robot-control code and
error-checking code to create a complete V+ application.

; Set parameter values

$ip = "172.21.12.91"
prm.ffwd.speed = 6001
prm.ffwd.iter = 6011
prm.run.action = 6000
operation = 1
anyfeeder.id = 3

; Set FeedForward speed

VPARAMETER(anyfeeder.id, -1, prm.ffwd.speed, -1, -1) $ip = 1

; Set FeedForward iterations

VPARAMETER(anyfeeder.id, -1, prm.ffwd.iter, -1, -1) $ip = 20

; Set the operation to be done at vrun : FeedForward

VPARAMETER(anyfeeder.id, -1, prm.run.action, -1, -1) $ip = operation

; Check AnyFeeder is ready (idle)

state = VSTATE($ip, anyfeeder.id)
IF (state <> 0) THEN
TYPE "Not ready, status = ", state
END

; Start the feed operation

VRUN $ip, anyfeeder.id

TYPE "Start Waiting"

; Type status (running)

TYPE "state = ", VSTATE($ip, anyfeeder.id)

; Wait completion

VWAITI (anyfeeder.id) $ip

TYPE "Finished Waiting"

TYPE "state = ", VSTATE($ip, anyfeeder.id)

Adept AnyFeeder Use r’ s Guide, Rev B 63

Index

A

about your Adept AnyFeeder 11
Adept Document Library 17
assistance, Customer Service 16

B

backlight installation 53

C

cable installation 25
Cautions, Dangers, Warnings, and Notes 12
CD-ROM, document library 16
changing the Feed Forward repetitions 40
codes, command 33
command

codes 33
parameter default values 38
setting parameters 34, 36–37
speed of operation 36

unknown 41
command, serial 33–34
commands

joint 58, 60, 62

UDT summary 57
communications, serial 32
connecting the power cable 28
Customer Service assistance 16

D

Dangers, Warnings, Cautions, and Notes 12
default values, command parameters 38
dimensions 55
Document Library, CD-ROM 16
drawings, dimension 55

flip drive has a servo problem 41

G

getting help 16

H

handles for lifting/moving the AnyFeeder 23
help, getting 16

I

I/O

information 44
power and servo 30

power LEDs 30
initializing the AnyFeeder 39
installation

backlight 53

cables and power 25

electrical 25

feed surface 50

mechanical 22

pneumatic line 24

verifying 30
introduction 11

J

joint

commands 58, 60, 62

L

LEDs, I/O power and servo power 30
library, Adept Document 17
lifting the AnyFeeder, handles 23

E

electrical installation 25
emergency, what to do 16
emissions, sound 13
examples, serial communications dialogs 39

F

Feed Forward repetitions, changing 40
feed surface, removing and installing 50
Feed/Flip Forward, set and execute 40
feeding parts forward 39

Adept AnyFeeder User’s Guide, Rev. B 65

M

maintenance 49

backlight 49

feed surface and channels 49

servo valve 49
manuals, related 16
mechanical installation 22
message URL http

//www.adept.com 16
mode switches 29
mounting location, preparing 22
moving the AnyFeeder

Index

handles 23
mounting location 23

N

Notes, Dangers, Warnings, and Cautions 12

P

parameters

command default values 38

setting serial port 32
parts, feeding forward 39
periodic maintenance 49
pneumatic line, installation 24
power cable, connecting 28
power installation 25
power LEDs 30
programming 57
protection, against unauthorized operation 15

Q

qualification of personnel 14

R

removing

feed surface 50

packing material 20
requirements, AnyFeeder system 31
risks

due to incorrect installation or operation 16

that cannot be avoided 15
routine maintenance 49

syntax, serial commands 33
system

I/O information 44
requirements 31

T

The 57

U

UDT commands

joint 58, 60, 62

summary 57
unknown command 41
unpacking the AnyFeeder 20

V

V+ programming 57, 63
verifying the installation 30
vision system 31
VSTATE 62
VWAITI 61

W

Warnings, Dangers, Cautions, and Notes 12
what to do in an emergency 16
working areas, safety issues 13

S

safety

during maintenance 15
equipment for operators 15

risks that cannot be avoided 15
sending commands to the AnyFeeder 33
serial commands 33–34

syntax 33
serial communications 32

dialog examples 39
serial port, setting communication parameters
32
servo power LEDs 30
servo problem, flip drive 41
setting

Feed/Flip Forward turns and execute 40

serial port communication parameters 32

switches 29
sound emissions 13
switches, setting 29

66 Adept AnyFeeder User’s Guide, Rev. B

5960 Inglewood Drive
Pleasanton, CA 94588
925·245·3400

P/N: 05284-002, Rev. B