Description#

This command moves autochanger trucks to an absolute position given as argument.

Synopsis#

moveToAbsoluteTargetPosition <new_trucks_position>

where <new_trucks_position> is the position of the trucks we want to move to.

This command has to be sent to component autochangerTrucks.

Example#

If we want to move autochanger to position 994000:

moveToAbsoluteTargetPosition 994000

Conditions to execute moveToAbsoluteTargetPosition#

• autochanger trucks controllers must not be in fault.
• the conditions to move trucks are those to guarantee filter security, so if there is no filter on trucks, trucks car be moved safely.
• if a filter is in the trucks :
  • ONLINE clamps must be opened
  • if trucks are at HANDOFF and autochanger latches are closed, carousel or loader must not hold the filter too.
  • if trucks are at STANDBY, filter must be hold by carousel or by autochanger.
  • if trucks are not at STANDBY, carousel socket at STANDBY must be empty otherwise tehre is a risk of collision.

Local Protection System of autochanger trucks motion#

• Signals lpmLinearRail1Status and lpmLinearRail2Status must be on.

lpmLinearRail1Status and lpmLinearRail2Status can be checked on ccs-console on Autochanger General View

How#

There are 2 controllers to move autochanger trucks :

• linearRailMasterController for truckXplus.
• linearRailSlaveController for truckXminus.

To be moved together, linearRailMasterController has to be in mode PROFILE_POSITION and linearRailSlaveController in mode MASTER_ENCODER.

The command moveToAbsoluteTargetPosition does :

1. check if conditions of trucks motion are respected.
2. check that linearRailMasterController is in mode PROFILE_POSITION and linearRailSlaveController is in mode MASTER_ENCODER.
3. enable linearRailMasterController and linearRailSlaveController
4. release brakes¹.
5. send command writeTargetPosition to linearRailMasterController.
6. when the motion is completed, execute command : activateBrakesAndDisable¹

The java code to start action MOVE_TO_ABSOLUTE_POSITION :

                checkControllersMode();
                this.enableControllersAndReleaseBrake();
                linearRailMasterController.writeTargetPosition(absoluteTargetPosition);
                linearRailMasterController.writeControlWord(0x3F);

Configurables Parameters for autochanger trucks motion#

There parameters below are configurable parameters for component autochangerTrucks :

• minActualPositionValue : minimal position for AC trucks
• maxActualPositionValue : maximal position for AC trucks
• timeoutForTrucksMotion : maximum of time for a trucks motion

Troubleshooting#

During execution of the command, the motion can be checked on ccs-console, on Autochanger Trucks View.

If trucks motion doesn't start#

When the motion can't be started, an error message is displayed on the ccs-console if the command was launched from the ccs-console.

Check Local Protection System#

On Autochanger General View, Enable Rail Linear1 and Enable Rail Linear2 must be green :

Check initial conditions#

If trucks motion stopped before the target position is reached#

If an ALARM is raised during trucks motion#

An ALARM can be raised during trucks motion by the autochanger trucks controllers if they detect an error.

Usualy when the trucks controller encounter an error, it stops the motion.

The actions for recovery are :

1. check the error messages on the controller

2. solve the issue regarding the message

3. reset the errors on the controller

4. restart the motion in sending the command again.