Description of clamp#

The command clamp clamps the loader clamp, that means : closes it strongly.

• The loader clamp is controlled by an EPOS controller : hooksController.

• The force of the clamping is controlled by 2 force sensors : forceSensor0 and forceSensor1.

• 4 clamp status can be read on the loaderPLutoGateway :

  • clampStatusSensor : return 1 if force sensor value is greater than minClampedVoltage.

  • overClampedStatusSensor : return 1 if force sensor value is higher than max force limit.

  • unclampedStatusSensor : return 1 if clamp is unclamped.

  • underClampedStatusSensor : return 1 if clamp is not clamped (voltage returned by force sensors is too low).

To clamp loader clamp, hooksController is set to CURRENT mode and currentToClamp is sent to the controller.

Synopsis#

clamp

The command clamp has to be sent to component clamp.

Conditions to execute clamp#

The conditions to execute clamp are :

• A filter must be in the loader.
• Carrier must be at ENGAGED position.
• Clamp must be in state CLOSED.
• Autochanger latches must be in OPEN state.

Configurable parameters for clamp#

The configurables parameters for command clamp are

• currentToClamp : current to clamp hooks, units = mA
• timeoutForClampingHooks : if closing strongly the clamp last more than this amount of time, then the subsystem goes in ERROR, units = milliseconds.
• minClampedVoltage : Trigger to know when action clamp is completed. If force sensor voltage is over this limit then action clamp is completed. Unit is 0.1 Volt.

Local Protection System#

How#

1. Check if conditions of loader clamping are respected. (see above)
2. Check that loader clamp controller is not in fault.
3. Set clamp controller mode to CURRENT.
4. Send currentToClamp to hooksController
5. Wait until clamp is clamped, read continuously loader clamp sensors and current in hooksController.
6. When command is completed, send command disableOperation to hooksController.
7. Raise an ALERT if overClampedStatusSensor is ON.

The java code to start action :

            hooksController.checkFault();
            hooksController.changeMode(CURRENT);
            hooksController.enableAndWriteCurrent((short) this.currentToClamp);

Troubleshooting and recovery#

If clamping does not start#

If clamping stops before clamp is in state CLAMPED#

If an ALARM is raised during clamping#

If an ALARM is raised at the end of clamping#