Description#

This command rotates carousel to an absolute position given as argument.

Synopsis#

rotateToAbsolutePosition <carousel_position>

where <carousel_position> is the position of the carousel we want to rotate to.

This command has to be sent to component carousel.

Example#

If we want to rotate carousel to position 4197000:

rotateToAbsolutePosition 4197000

Conditions to execute rotateToAbsolutePosition#

carousel controller must not be in fault.
Autochanger must be at HANDOFF or ONLINE.

Local Protection System of carousel rotation#

Signals AP2 & AP3 must be on.

How#

checks if conditions of rotation are respected. (see above)
do the homing of carousel controller : carouselController
enable carouselController and write target position
disable carouselController

The java code to start action ROTATE_CAROUSEL_TO_ABSOLUTE_POSITION :

            carouselController.enable();
            FcsUtils.sleep(250, name);
            carouselController.writeTargetPosition(this.absoluteTargetPosition);
            carouselController.writeControlWord(0x3F);

Configurables Parameters for carousel rotation#

The parameters for the rotation are mostly parameters to configure carousel controller.

There parameters below are configurable parameters for component carousel.

Parameters for speed mode#

The parameters for carousel speed mode on the controller are :

ProfileVelocity
ProfileAcceleration
ProfileDeceleration

The configuration parameters of FCS used to set those controller parameters are :

for slow mode :

        slowVelocity
        slowAcceleration
        slowDeceleration

for fast mode :

        fastVelocity
        fastAcceleration
        fastDeceleration

And 2 others configurable parameters set the timeout for the rotation :

        slowRotationTimeout
        fastRotationTimeout

Check if the speed mode is correct and change it#

There are 2 modes for the carousel speed :

slow mode : when loading filters in camera, carousel is not fully loaded with filters and there is an imbalance.
fast mode : in normal conditions when carousel is fully loaded with filters.

To check if we are in the appropriate mode on the ccs-console :

select Carousel General View
and in the panel General Informations check the values of : ProfileVelocity, ProfileAcceleration, ProfileDeceleration, RotationTimeout for slow mode or fast mode.
select the desired mode with buttons : SetSlowMode or SetFastMode.

Warning

The values of ProfileVelocity, ProfileAcceleration, ProfileDeceleration, can have changed in the CPU of carousel controller. These values depends on Configurables Parameters for speed mode.

Note

Slow mode and fast mode can also be set with commands : setSlowMode and setFastMode sent to component carousel through the CommandBrowser or a ccs-shell.

Troubleshooting#

If carousel rotation doesn't start#

Check Local Protection System#

On FCS OVERVIEW Panel, one of AP2 (AC at handoff) or AP3 (AC at online) must be green :

fcs-gui

Check initial conditions#

If carousel stops before the position is reached#

It could be because the carousel is in slow speed mode.

Check if the speed mode is correct and change it.

If an ALARM is raised during rotation#

An ALARM can be raised during carousel rotation by the carousel controller if it detects an error.

Usualy when the carousel controller encounters an error, it stops the motion.

The actions for recovery are :

check the error messages on the controller
solve the issue regarding the message
reset the errors on the controller
restart the rotation in sending the command again.