flexfactory anyfeed SX Series Specification sheet

anyfeed SX Feeder Series
Quick Setup and User’s Guide
flexfactory ag
02.2009
flexfactory ag
Giessenstrasse 15
CH-8953 Dietikon

flexfactory ag Quick Setup Guide and User’s anyfeed SX Series 1
TABLE OF CONTENTS
List of Figures.............................................................................................................................. 3
List of Tables............................................................................................................................... 5
1Overview............................................................................................................................. 7
1.1 Introduction................................................................................................................. 7
1.2 Technical Specifications............................................................................................... 7
1.3 Alert notation .............................................................................................................. 8
1.4 Soand Emissions .......................................................................................................... 8
1.5 Working Areas ............................................................................................................. 8
1.6 Qualification of Personnel ........................................................................................... 9
1.7 Safety Equipment for Operators ................................................................................. 9
1.8 Protection Against Unauthorized Operation............................................................... 9
1.9 Safety Aspects While Performing Maintenance........................................................ 10
1.10 Risks That Cannot Be Avoided ............................................................................... 10
1.11 Risks Due To Incorrect Installation or Operation................................................... 10
1.12 What to Do in an Emergency Situation.................................................................. 10
1.13 How Can I Get Help ................................................................................................ 11
2Unpacking......................................................................................................................... 12
2.1 Opening up the shipping crate .................................................................................. 12
2.2 Removing the feeder from the pallet........................................................................ 12
2.3 Material Checklist ...................................................................................................... 13
2.4 Other Items You May Need to Set Up Your Application ........................................... 15
3Installation........................................................................................................................ 16
3.1 Introduction............................................................................................................... 16
3.2 Mechanical Installation.............................................................................................. 16
3.3 Installing the Pneumatic Line for compressed air ..................................................... 20
3.4 Installing Cables and Power....................................................................................... 20
3.4.1 RS232 Cable Pinout ............................................................................................ 23

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3.4.2 Parallel I/O Cable................................................................................................ 23
3.5 Testing the Installation .............................................................................................. 24
4Operation with Serial Communications ........................................................................... 28
4.1 Program Flow............................................................................................................. 28
4.2 Setting the Serial Communications Parameters........................................................ 28
4.3 Serial Command Codes.............................................................................................. 29
4.3.1 Sending Commands to the anyfeed SX .............................................................. 29
4.3.2 Anyfeed SX Responses........................................................................................ 33
4.3.3 Command Parameters Default Values............................................................... 35
5Operation with Parallel Communications ........................................................................ 36
5.1 Preparing the feeder for parallel communications ................................................... 36
5.2 Parallel I/O Wiring Assignments................................................................................ 39
5.3 Signal Handshake....................................................................................................... 40
6Maintenance and Settings................................................................................................ 41
6.1 Periodic maintenance................................................................................................ 41
6.2 Removing and Installing the feed surface ................................................................. 41
6.3 Retainer Speed Settings............................................................................................. 42
7FOV Support Plate ............................................................................................................ 44
8Backlight ........................................................................................................................... 48
8.1 Backlight Versions...................................................................................................... 48
8.2 Preparing the INstallation.......................................................................................... 49
8.3 Installing the Backlight G1 ......................................................................................... 50
8.4 Installieren des Backlight G2 ..................................................................................... 51
8.5 Installing the LED Controller...................................................................................... 52
8.6 LED-Controller/ Backlight Settings ............................................................................ 54
8.7 Function Check .......................................................................................................... 58
8.8 Configuring the LED Controller.................................................................................. 59

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LIST OF FIGURES
Figure 1-1 anyfeed SX 240.......................................................................................................... 7
Figure 2-1 anyfeed SX parts...................................................................................................... 12
Figure 2-2 Mounting rail screws............................................................................................... 12
Figure 2-3 Handles for lifting and positioning.......................................................................... 13
Figure 2-4 anyfeed SX feeder ................................................................................................... 13
Figure 2-5 SX Servo Power Cable ............................................................................................. 14
Figure 2-6 SX Logic Power Cable .............................................................................................. 14
Figure 2-7 RS232 Cable............................................................................................................. 14
Figure 3-1 SX 240 Dimensions.................................................................................................. 17
Figure 3-2 SX 160 Dimensions.................................................................................................. 18
Figure 3-3 Feeder on base plate............................................................................................... 19
Figure 3-4 Connecting the pneumatic line............................................................................... 20
Figure 3-5 anyfeed SX interface panel relevant connection points......................................... 21
Figure 3-6 RS232 Cable............................................................................................................. 23
Figure 3-7 Front Interface Panel LEDs...................................................................................... 24
Figure 3-8 HyperTerminal connection settings........................................................................ 25
Figure 3-9 HyperTerminal ASCII Setup ..................................................................................... 25
Figure 3-10 HT ASCII Setup....................................................................................................... 25
Figure 3-11 HyperTerminal main window................................................................................ 26
Figure 3-12 HyperTerminal main window................................................................................ 27
Figure 3-13 Purge gate in open position .................................................................................. 27
Figure 5-1 Removing the Front Interface Panel ....................................................................... 36
Figure 5-2 Serial/parallel mode jumper ................................................................................... 37
Figure 5-3 Jumper settings ....................................................................................................... 37
Figure 5-4 Sticker...................................................................................................................... 37
Figure 5-5 Parallel/serial switch ............................................................................................... 38
Figure 5-6 Signal handshake diagram ...................................................................................... 40

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Figure 6-2 Retainer................................................................................................................... 42
Figure 6-1 Feed deck beneath the feed surface (no backlight shown).................................... 42
Figure 6-3 Screws on bulk container ........................................................................................ 43
Figure 6-4 Feed deck ................................................................................................................ 43
Figure 6-5 Screw to set retainer speed .................................................................................... 43
Figure 6-6 Feeder back plate.................................................................................................... 43
Figure 6-7 Valve block .............................................................................................................. 43
Figure 7-1 Face plate of the feeder.......................................................................................... 44
Figure 7-2 Dismount the bunker .............................................................................................. 44
Figure 7-3 Pneumatic line......................................................................................................... 45
Figure 7-4 Dismantle the side panels and the V-rails............................................................... 45
Figure 7-5 Dismantle the backlight .......................................................................................... 45
Figure 7-6 FOV support plate and screws ................................................................................ 46
Figure 7-7 Feeder before installing the FOV support plate ..................................................... 46
Figure 7-8 Slide in the FOV support plate ................................................................................ 46
Figure 7-9 Tighten down the FOV support plate...................................................................... 46
Figure 7-10 Install the backlight............................................................................................... 47
Figure 7-11 Mount the V-rails and the side panels.................................................................. 47
Figure 7-12 Mount the bunker and connect the pneumatic line ............................................ 47
Figure 8-1 Backlight G1 with cable ......................................................................................... 48
Figure 8-2 Backlight G2 with cable and LED controller............................................................ 48
Figure 8-3 Feed platform and front cover................................................................................ 49
Figure 8-4 Preparing the backlight ........................................................................................... 50
Figure 8-5 Inserting the backlight into the feeder ................................................................... 50
Figure 8-6 Positioning the backlight......................................................................................... 50
Figure 8-7 Installing the backlight screws ................................................................................ 50
Figure 8-8 Inserting the backlight ............................................................................................ 51
Figure 8-9 Install the backlight screws ..................................................................................... 51

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Figure 8-10 Cover plate on the feed deck................................................................................ 52
Figure 8-11 Cable to the LED controller ................................................................................... 52
Figure 8-12 LED controller (mounted on a bracket) ................................................................ 52
Figure 8-13 LED controller and connector ............................................................................... 52
Figure 8-14 Switches on the LED controller ............................................................................. 53
Figure 8-15 LED controller (installed)....................................................................................... 53
Figure 8-16 LED controller connectors, DIP switches, status LEDs .......................................... 55
Figure 8-17 Connection between LED controller and front panel........................................... 57
Figure 8-18 LED on the side of the backlight............................................................................ 58
Figure 8-19 Check LEDs on the front panel.............................................................................. 58
Figure 8-20 LED controller........................................................................................................ 59
LIST OF TABLES
Table 1-1 Technical Specifications ............................................................................................. 7
Table 1-2 Alert Notation............................................................................................................. 8
Table 2-1 Material Checklist..................................................................................................... 14
Table 3-1 anyfeed SX Connector Pinout................................................................................... 21
Table 3-2 Installing the Cables ................................................................................................. 22
Table 3-3 Serial Cable Wiring Assignment ............................................................................... 23
Table 3-4 Syntax Test Commands ............................................................................................ 27
Table 4-1 Serial Communications Parameters......................................................................... 28
Table 4-2 Command Symbols................................................................................................... 29
Table 4-3 Serial Commands...................................................................................................... 33
Table 4-4 Command Parameter Default Values....................................................................... 35
Table 5-1 Parallel I/O Cable Wiring Assignments..................................................................... 39
Table 6-1 Maintenance ............................................................................................................ 41
Table 8-1 Backlight Versions .................................................................................................... 48
Table 8-2 Settings flash/ static mode....................................................................................... 54

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Table 8-3 DIP switch settings on the LED controller ................................................................ 56
Table 8-4 Status LEDs of the LED Controller ............................................................................ 59
Table 8-5 Status LEDs show chosen feeder model .................................................................. 60

flexfactory ag Quick Setup Guide and User’s anyfeed SX Series 7
1OVERVIEW
1.1 INTRODUCTION
This manual describes the key points for getting your anyfeed SX 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 anderstood this manual before proceeding with the installation
and operation of the anyfeed SX.
Figure 1-1 anyfeed SX 240
1.2 TECHNICAL SPECIFICATIONS
SX 240
SX 160
Dimensions
see page 15
see page 16
Weight
70 kg
67 kg
Air requirements
5–6 bar unlubricated filtered air
5–6 bar unlubricated filtered air
Electrical requirements
24 VDC / 10 A
24 VDC / 10 A
Ambient Temperature
5 –40 °C
5 –40 °C
Humidity
5 –90 % (no condensation)
5 –90 % (no condensation)
Table 1-1 Technical Specifications

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1.3 ALERT NOTATION
There are four levels of special alert notation used in this manual. In descending order of
importance, they are:
Level
Symbol
Description
1
This indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
2
Warning
This indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or major damage to the
equipment.
3
Caution
This indicates a situation which, if not avoided, could result in
minor injury or damage to the equipment.
4
This provides supplementary information, emphasizes a point
or procedure, or gives a tip for easier operation.
Table 1-2 Alert Notation
1.4 SOAND EMISSIONS
Warning
Acoustic emission from the anyfeed SX may be up to 85 dB (A)
ander 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.
1.5 WORKING AREAS
The robot systems used with the anyfeed SX have a Manual and an Automatic operating
mode. While in Automatic Mode, personnel are not allowed in the workcell. In Manual
mode, safety procedures and rules defined in the robot documentation must be followed.
Warning
Electrical Hazard!
Impact Hazard!
Never remove any safeguarding and never make changes in the
system that will decommission a safeguard.

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1.6 QUALIFICATION OF PERSONNEL
This manual assumes that all personnel have been adequately instructed 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:
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 soand 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.
Warning
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
Anderstands the manual
Will work in the manner specified by the manual
1.7 SAFETY EQUIPMENT FOR OPERATORS
It is advised that operators 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 aroand the workcell to ensure that anyone working aroand the robot
system knows they must wear safety equipment.
1.8 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.

flexfactory ag Quick Setup Guide and User’s anyfeed SX Series 10
1.9 SAFETY ASPECTS WHILE PERFORMING MAINTENANCE
Only skilled persons with the necessary knowledge about the safety and operating
equipment are allowed to maintain the robot and controller.
Warning
During maintenance and repair, the power to the robot
controller and robot must be turned off. Unauthorized third
parties must be prevented from turning on power
through the use of lockout measures.
1.10 RISKS THAT CANNOT BE AVOIDED
The 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
1.11 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.
1.12 WHAT TO DO IN AN EMERGENCY SITUATION
Press any E-Stop button (a red push-button on a yellow backgroand/field) and then follow
the internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO₂ to extinguish the fire.

flexfactory ag Quick Setup Guide and User’s anyfeed SX Series 11
1.13 HOW CAN I GET HELP
flexfactory headquarters are located in Switzerland at the following address:
flexfactory ag
Giessenstrasse 15
CH-8953 Dietikon
Switzerland
Phone: [phone]
Fax: [phone]
Email: [email protected]
Web: www.flexfactory.com
Contact flexfactory ag
directly during our
business hours: Central
European Time Zone:
8:00 –12:00 and
13:30 –17:00 or any of
our authorized
business associates
listed on our website.

flexfactory ag Quick Setup Guide and User’s anyfeed SX Series 12
2UNPACKING
The anyfeed SX is shipped in a carton that is banded onto a wooden pallet. The shipping
carton with pallet is approximately 130 cm (48 in) x 75 cm (30 in) x 43 cm (17 in) (L x W x H).
The shipping carton with pallet weighs approximately 80 kg.
Use a forklift or hand truck to move the shipping carton with pallet to the installation area.
Mounting Rail
Pneumatic
connector
Interface Panel
Feed platform
front panel
Feed platform
Bulk container
Handles for lifting
and positioning
Figure 2-1 anyfeed SX parts
2.1 OPENING UP THE SHIPPING CRATE
Cut banding
Lift off the cardboard box vertically
2.2 REMOVING THE FEEDER FROM THE PALLET
Remove the 4 Screws (2 on each side) connecting the pallet and the mounting rail
Figure 2-2 Mounting rail screws

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Warning
Only use handles to lift and move the feeder.
2 persons are needed to lift the feeder.
Figure 2-3 Handles for lifting and positioning
Place the feeder on a prepared base
at least 650 mm of the feeder’s base housing must rest on the base plate
2.3 MATERIAL CHECKLIST
At minimum, you should have received the following material:
FEEDER
anyfeed SX series feeder
Figure 2-4 anyfeed SX feeder

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CABLES
SX Servo Power Cable
p/n: 002-114-001
length: 5m
Figure 2-5 SX Servo Power Cable
SX Logic Power Cable
p/n: 002-061-001
length: 5m
Figure 2-6 SX Logic Power Cable
RS232 Cable
p/n: 002-116-000
length: 4.5m
Figure 2-7 RS232 Cable
Table 2-1 Material Checklist
Optional equipment you ordered is not listed here!

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2.4 OTHER ITEMS YOU MAY NEED TO SET UP YOUR APPLICATION
•Robot system
•Parallel I/O Cable (for parallel communication)
•Vision-guidance system
•Sturdy mounting table(s) for the robot and anyfeed SX
•Camera-mounting structure
•Personal computer (for interfacing with and programming the robot and vision
system)

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3INSTALLATION
3.1 INTRODUCTION
This chapter describes the installation procedure for the anyfeed SX. Additional equipment
required for a complete flexible feeding system is not covered in this manual.
3.2 MECHANICAL INSTALLATION
Warning
Feeder must be bolted or clamped down to base plate at any
time during operation. Due to its working principle, feeder may
“walk off” the table during operation if not properly attached to
base plate.
Do not connect the feeder to elecrical power or compressed air
before it is securely bolted/ clamped down to base plate.
Prepare the mounting hole pattern as shown on the next pages. At least 650 mm of the
feeder’s base housing must rest on the base plate. Note that the anyfeed SX 240 and the
anyfeed SX 160 have different dimensions, the mounting hole pattern however is the
identical.

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Figure 3-1 SX 240 Dimensions

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Figure 3-2 SX 160 Dimensions

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Base Plate
>=650mm
Figure 3-3 Feeder on base plate