Adept Technology AnyFeeder UG User Manual

							Serial Command Codes
Adept AnyFeeder User’s Guide, Rev. A  31
Set Feed + Flip 
Forward repetitions 
and execute flip 
forwardSet number of 
repetitions for flip 
forward and execute 
motion> ab[3]=[turns]_x=3Sets repetitions and 
executes motionStandard 
response
Set Feed + Flip 
Backward 
repetitionsSet number of 
repetitions for flip 
backward> ab[4]=[turns]Sets repetitions No response
Set Feed + Flip 
Backward 
repetitions and 
execute flip 
backwardSet number of 
repetitions for flip 
backward and 
execute motion> ab[4]=[turns]_x=4Sets repetitions and 
executes motionStanda
rd 
response
Set Flip RepetitionsSet number of 
repetitions for flip> ab[5]=[turns]Sets repetitions No response
Set Flip Repetitions 
and execute flipSet number of 
repetitions for flip 
and execute motion> ab[5]=[turns]_x=5Sets repetitions and 
executes motionStandard 
response
Set Dispense 
RepetitionsSet number of 
repetitions for 
dispense> ab[6]=[turns]Sets repetitions No response
Set Dispense 
Repetitions and 
execute dispSet number of 
repetitions for 
dispense and 
execute motion> ab[6]=[turns]_x=6Sets repetitions and 
executes motionStandard 
response
Set Purge 
RepetitionsSet number of 
repetitions for purge> ab[7]=[turns]Sets repetitions No response
Set Purge 
Repetitions and 
execute purgeSet number of 
repetitions for purge 
and execute motion> ab[7]=[turns]_x=7Sets repetitions and 
executes motionStandard 
response
Set Heavy 
Dispense 
RepetitionsSet number of 
repetitions for heavy 
dispense> ab[8]=[turns]Sets repetitions No response
Set Heavy 
Dispense 
Repetitions and 
execute heavy 
dispenseSet number of 
repetitions for heavy 
dispense and 
execute motion> ab[8]=[turns]_x=8Sets repetitions and 
executes motionStandard 
response
Setting the Speed of Operation
Set Feed Forward 
speedSet speed of feed 
forward operation> ab[17]=[speed]_x=17Sets speedStandard 
response
Set Feed Backward 
speedSet speed of feed 
backward operation> ab[18]=[speed]_x=18Sets speedStandard 
response
Table 3-4: Setting Parameters
Command Description Syntax Explanation Response 
						

							Chapter 3 - Using the AnyFeeder with Serial Communications
32 Adept AnyFeeder User’s Guide, Rev. A 
Set Feed + Flip 
Forward speedSet speed of flip 
forward operation> ab[19]=[speed]_x=19Sets speedStandard 
response
Set Feed + Flip 
Backward speedSet speed of flip 
backward operation> ab[20]=[speed]_x=20Sets speedStandard 
response
Set Flip speedSet speed of flip 
operation> ab[21]=[speed]_x=21Sets speedStandard 
response
Set Dispense speedSet speed of 
dispense operation> ab[22]=[speed]_x=22Sets speedStandard 
response
Set Purge speedSet speed of purge 
operation> ab[23]=[speed]_x=2
3Sets speedStandard 
response
Set Heavy 
Dispense speedSet speed of heavy 
dispense operation> ab[24]=[speed]_x=24Sets speedStandard 
response
Other Settings
Backlight/Strobe 
modeSet the state of the 
optional Backlight (if 
installed)> 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”)No response
Vision trigger 
intervalSets the vision 
trigger interval in 
multiples of 20 ms> ab[25]=[value]_x=25 Range for value is 
1…63
Default is 240 ms 
(value=12)No response
Vision trigger delaySets the vision 
trigger delay in 
multiples of 20 ms. 
The trigger delay 
starts after a 
AnyFeeder action 
has completed.
> ab[26]=[value]_x=26 Range for value is 
1…63
Default is 500 ms 
(value=25)No response
Set digital outputSet the state of the 
AnyFeeders 
internal digital 
outputs. It is not 
recommended to 
set these during 
normal operation, 
only for debugging 
purposes.> ab[27]=[mode]_x=27 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 
DOWNStandard 
response
Table 3-4: Setting Parameters
Command Description Syntax Explanation Response 
						

							Serial Command Codes
Adept AnyFeeder User’s Guide, Rev. A  33
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
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
m21 Motor 2 received command and is busy
m22 Invalid command Command or command syntax incorrect
m23Motor 2 servo error Possibly overlo
aded. 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. 
						

							Chapter 3 - Using the AnyFeeder with Serial Communications
34 Adept AnyFeeder User’s Guide, Rev. A Standard Responses
During normal operation, the responses you should expect to see from the AnyFeeder are 
as follows.
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 3-6: Standard Responses
a
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. Response Meaning
m21 Motor 2 understood command and is busy
m11 Motor 1 understood command and is busy
m20 Motor 2 completed action successfully and is OK
m10 Motor 1 completed action successfully and is OK
Table 3-7: Parameter Default Values
Parameter Default Value
ab[1]=3default feed forward repetitions
ab[2]=3default feed backward repetitions
ab[3]=3default feed and flip forward repetitions
ab[4]=3default feed and flip backward repetitions
ab[5]=3default flip repetitions
ab[6]=3default dispense repetitions
ab[7]=64 default purge repetitions
ab[8]=3default heavy dispense repetitions
ab[17]=1 feed forward speed
ab[18]=1 feed backward 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
Adept AnyFeeder User’s Guide, Rev. A  35
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 
Init command (x=16).
Feeding Parts Forward
Table 3-9 shows responses to the 
Feed Forward command (x=1).
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).Table 3-8: Initializing the AnyFeeder
Te r m i n a l  
WindowExplanation
m21 Motor/Drive 2 understood command and is now busy, indicated by the 
1
m11 Motor/Drive 1 understood command and is now busy, indicated by the 
second 1
m10 Motor/Drive 1 completed action successfully, indicated by 0
m20 Motor/Drive 2 completed action successfully
Table 3-9: Feeding Parts Forward
Te r m i n a l  
WindowExplanation
m21 Motor/Drive 2 understood command and is now busy, indicated by the 
1
m11 Motor/Drive 1 understood command and is now busy, indicated by the 
second 1
m20 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 Motor/Drive 1 completed action successfully
Table 3-10: Changing the Flip Speed/Intensity
Te r m i n a l  
WindowExplanation
m21 Drive 2 command understood
m11 Drive 1 command understood
m10 Drive 1 finished
m20 Drive 2 finished 
						

							Chapter 3 - Using the AnyFeeder with Serial Communications
36 Adept AnyFeeder User’s Guide, Rev. A 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).
AnyFeeder not Initialized
Table 3-12 shows responses to the 
Feed Forward command before the AnyFeeder has been 
initialized 
(x=1).
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).
Unknown Command
Table 3-14 shows responses to an unknown 
command (x=9). Table 3-11: Set Feed/Flip Forward Turns and Execute
Te r m i n a l  
WindowExplanation
m21 Drive 2 command understood
m11 Drive 1 command understood
m10 Drive 1 finished
m20 Drive 2 finished
Table 3-12: AnyFeeder not Initialized
Te r m i n a l  
WindowExplanation
m26 Drive 2 reports that it is not initialized
m16 Drive 1 reports that it is not initialized
Table 3-13: Flip Drive has a Servo Problem
Te r m i n a l  
WindowExplanation
m21 Drive 2 reports that it is not initialized
m11 Drive 1 reports that it is not initialized
m20 Drive 2 reports end of motion
m13 Drive 1 reports a servo error
Table 3-14: Unknown Command
Te r m i n a l  
WindowExplanation
m22 Drive 2 reports that this is an unknown command
m12 Drive 1 reports that this is an unknown command 
						

							Adept AnyFeeder User’s Guide, Rev. A  37
Using the AnyFeeder with
Digital I/O4
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
FunctionPin #
DSUB 25Wire ColorPower Supply 
Robot 
Controller
+24 VDV 25 WH / BK +24 VDC
+24 VDC 13WH / 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 315 WH / YE IN 3
OUT 4 2 BN IN 4
OUT 5 16 YE / BN IN 5
OUT 63GN IN 6
OUT 7 17 WH / GY IN 7
OUT 8 4 YE IN 8
IN 1 18 GY / BN OUT 1
IN 2 5 GY OUT 2
IN 319 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 
						

							Chapter 4 - Using the AnyFeeder with Digital I/O
38 Adept AnyFeeder User’s Guide, Rev. A 
4.2 Digital I/O Communications
This section describes the Adept AnyFeeder system digital I/O communications. 
Signal Handshake
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 if an action 
has been completed.IN 8 8 RD OUT 8
IN 9 22 BN / BU OUT 9
IN 10 9 BK OUT 10
IN 11 23WH / RD OUT 11
IN 12 10 VT OUT 12
not used 11 GY / PK not used
Shield, ground to case N/A BK Table 4-1. Digital I/O Wiring Assignments
FunctionPin #
DSUB 25Wire ColorPower Supply 
Robot 
Controller 
						

							Digital I/O Communications
Adept AnyFeeder User’s Guide, Rev. A  39 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.