Description#

This command aligns the autochanger trucks when they have been previously disaligned.

It is used automaticaly in high levels commands when a misalignment is detected.

But it can be used by end users during maintenance or test procedures.

Synopsis#

alignSlave

This command has to be sent to component autochanger.

Conditions to execute alignSlave#

How#

To align slave truck position on master truck position, master controller has to be disabled, then slave controler mode has to be set to PROFILE_POSITION, then the slave trucks is moved to the master position.

alignSlave executes lower level commands :

                activateBrakesAndDisable
                homing (if not previously done)
                linearRailSlaveController.changeMode(PROFILE_POSITION);
                linearRailSlaveController.enableAndReleaseBrake();
                linearRailSlaveController.writeTargetPosition(slaveTargetPosition);
                linearRailSlaveController.writeControlWord(0x3F);

When the alignment of slave is completed, alignSlave does:

        FCSLOG.info(name + " STOP ALIGN SLAVE");
        linearRailSlaveController.activateBrake();
        FcsUtils.sleep(100, name); // to let time to brake to be activated
        linearRailSlaveController.changeMode(MASTER_ENCODER);
        linearRailSlaveController.disableOperation();

Configurables Parameters for Autochanger slave alignment#

There parameters below are configurable parameters for component autochangerTrucks :

• deltaPositionMax : an alignment of slave must be done when |deltaPosition| > deltaPositionMax

Troubleshooting#