unlockClamps#

Command description#

The command unlockClamps unlocks both carousel clamps for the carousel socket which is at STANDBY.

Synopsis#

unlockClamps

This command has to be sent to component carousel.

Conditions to execute unlockClamps#

Both carousel clamp controllers : clampXminusController and clampXplusController must not be in fault.
A carousel socket must be stopped at STANDBY.
The autochanger (or the fake autochanger in standalone mode) must hold the filter.

Local Protection System of carousel clamps unlocking#

Signals Carousel_CS & AP1 & AF1 & AF3 must be on.

Know if unlockClamps is completed.#

Command unlockClamps is completed with success if both clamps are in state :

UNCLAMPED ON FILTER.

How#

To unlock carousel clamps at STANDBY there are 2 controllers :

clampXminusController to unlock clampXminus1 to clampXminus5
clampXplusController to unlock clampXplus1 to clampXplus5

The command unlockClamps does :

checks if conditions of unlocking are respected.
enable both clamps controllers
send a small current to both controller to prepare the clamps mecanique
send currentToUnlock to both clamps, where currentToUnlock is a clamp's configurable parameter.

            this.clampXminusController.enable();
            this.clampXplusController.enable();

            // Following a request from Guillaume Daubard, we first send a small current
            // to the clamp to prepare it and prevent an unstable state when we send the
            // full current to unlock.
            this.clampXminusController.writeCurrent((short) -100);
            this.clampXplusController.writeCurrent((short) -100);

            this.clampXminusController.writeCurrent((short) this.clampXminus.getCurrentToUnlock());
            this.clampXplusController.writeCurrent((short) this.clampXplus.getCurrentToUnlock());

Configurable Parameters for carousel clamps unlocking#

The configurable parameters for clamps unlocking are configurable parameters of components carousel clamps : clampXminus1 to clampXminus5, and clampXplus1 to clampXplus5. Each clamp could have its own value.

currentToUnlock : value of current to be sent to the motor to unlock the clamp, example of value : -3200
timeoutForUnlocking : maximum of time to unlock a clamp

Troubleshooting and recovery#

If carousel unlocking doesn't start#

Check Local Protection System#

On FCS OVERVIEW Panel, all the following signals must be green (ON) :

Carousel_CS (socket stopped at standby) AND
AP1 (AC at standby) AND
AF1 (filter detected on AC) AND
AF3 (filter locked in AC)

fcs-gui

If state UNCLAMPED ON FILTER is not reached#

At the end of command unlockClamps clamps state at STANDBY should be : UNCLAMPED ON FILTER.

Check carousel clamps state with the ccs-console#

Let's say that you want to unlock socket3. On the fcs GUI, select socket3.

Clamps State should be UNCLAMPED ON FILTER like below :

Check Clamps State .

If carousel clamps state is UNDEFINED#

This can happen if one clamp is UNCLAMPED ON FILTER and the other is UNDEFINED like below where clampXminus3 is not UNLOCKED :

Example of Clamps State UNDEFINED.

In this case, you have to unlock the clamp which is in state UNDEFINED.

If an ALARM is raised during execution of command unlockClamps#

An ALARM can be raised during carousel clamps unlocking by the carousel clamp controllers if they detect an error.

Usualy when a 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 unlocking in sending the command again.

Recovery procedure to unlock carousel clamps one by one.#

There is 2 ways to unlock only one carousel clamp :

sent command unlock to the clamp with the Command Browser, example for clampXminus3
sent a current to the clamp controller : this method is to be used only if the previous one doesn't work and if you are an expert of the carousel.

To send a current to the clamp controller :#

See Controllers documentation

To unlock carousel clampXminus when socket3 is at STANDBY, send the following commands to clampXminusController:

enable
writeCurrent -3200

Danger

Do not send commands to a controller unless you are an expert of the Filter Exchange System.