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Set filter procedure#

Initial conditions#

Below are the conditions that need to be validated before executing the setFilter command.
The full list can be found in the setFilter page as well as on Confluence.

Info

As a safety, the setFilter command won't execute if these preconditions are not met.

System operational#

Alarms cleared#

  • hardware missing
  • motor controllers not in error

CANopen devices booted initialised#

  • FCS HardwareState must be READY
  • On the CANopen hardware list menu all the devices must be booted:

fcs-gui

Loader absent#

There are two ways of checking the loader presence, a command and a GUI presence sensor.

Via the view panel#

Should be moved to the FCS General View Panel

On Loader General View Panel, ON CAMERA SENSOR must be gray:

fcs-gui

Via the Command Browser#

The command isLoaderConnected must return false:

command-browser

The carousel must be stopped at a known position, with one of the filter socket at STANDBY.

Autochanger stopped at known position#

The autochanger must be stopped at one of the three official positions: ONLINE, HANDOFF or STANDBY.

No sensor errors#

The presence and inclination sensors must be responding.

Put a screenshot of the sensors not in error

Filter position#

There are three posibilities as far as the filter presence in the Carousel/Autochanger combination:

  1. the filter is at ONLINE
    • autochanger online clamps are LOCKED
    • carousel socket at STANDBY is empty and READY_TO_CLAMP
  2. the filter is at HANDOFF
    • autochanger latches are CLOSED
    • carousel socket at STANDBY is empty and READY_TO_CLAMP
  3. the filter is as STANDBY
    • autochanger trucks are at STANDBY
    • autochanger latches are CLOSED
    • carousel clamps are CLAMPED_ON_FILTER

Sequence of actions#

In this section we will enumerate the main group of actions performed during a setFilter command so we can refer to them in the troubleshooting section below.

Hint

The detailed list of actions, along with their nominal and final states, occuring during a setFilter command are fully described here.

The following order of actions corresponds to the longest possible and most common sequence occuring during a setFilter command, that is starting with a filter in place at ONLINE and performing a filter exchange with a filter currently hold by the carousel.

Command name#

fcs/storeFilterOnCarousel

Actions#

  • unlocking the online clamps
  • opening the online clamps
  • moving slowly to an approachOnline position
  • moving fast to the approachStandby position
  • moving slowly to STANDBY position to clamp the filter in the carousel
  • opening the autochanger latches
  • moving the empty autochanger to HANDOFF

Command name#

carousel/rotateSocketToStandby

Actions#

  • homing of the carousel1
  • rotation of the carousel to get desired filter at STANDBY

3. Grabbing the filter with the autochanger#

Command name#

autochanger/grabFilterAtStandby

Actions#

  • moving the empty autochanger to STANDBY
  • closing the autochanger latches

Command name#

fcs/disengageFilterFromCarousel

Actions#

  • unlocking the carousel clamps (enabling current)
  • moving slowly the autochanger to the approachStandbyPosition
  • releasing the carousel clamps to avoid heating

5. Moving and locking filter at ONLINE#

Command name#

autochanger/moveAndClampFilterOnline

Actions#

  • moving fast to the approachOnline position
  • finding ONLINE position
  • homing of the online clamps1
  • closing the clamps
  • locking the clamps
  • relaxing the trucks

Alternative starts#

As mentionned on the previous section, the setFilter command can be executed from three different initial conditions. Above, we have seen the case were we start with a filter at ONLINE.

Here we summarise the sequence of actions when we start with

starting with a filter at STANDBY#

The hardware state should be

  • autochanger trucks are at STANDBY
  • autochanger latches are CLOSED
  • carousel clamps are CLAMPED_ON_FILTER

The setFilter command will then only execute the last two sequences

  • 4. Disangaging the filter from the carousel
  • 5. Moving and locking filter at ONLINE

starting with a filter at HANDOFF#

This may happen for instance when the desired filter just got loaded in with the Loader

The hardware state should be

  • autochanger trucks at HANDOFF with the right filter

The setFilter command will then only execute the last sequence

  • 5. Moving and locking filter at ONLINE

Possible issues and escapes#

Homing is not done#

Homing of the online clamps or the carousel should be done automatically as part of the procedures.

If not, one may have to do it manually.

The homing of the carousel can be performed at any time as long as the autochanger is sitting safely at HANDOFF or ONLINE.

The command is

carousel/homing

Homing of the autochanger online clamps#

For the homing to be performed on the online clamps, a filter must be present and at ONLINE.

The command is

autochanger/homingClamps

Timeouts#

Most of the actions involved in the set filter procedure take a long time to finish. This is due mainly to the high range of moves required, and the necessary adjustements to make sure the system has reached its destination under the required limits.

It may sometimes happen that the console returns an error with a timeout.

see Carousel rotation recovery

see Carousel clamps unlocking recovery

  1. if not already done ↩↩