Description of close#
The command close closes loader clamp.
Info
Loader clamp is made of 4 hooks. Each hook has a loaderOpenSensor which is ON when hook is opened, and a loaderCloseSensor which is ON when hook is closed.
The loader clamp is controlled by an EPOS controller : hooksController
.
There is an absolute encoder to know position of the hooks. To close loader clamp, the clamp controller mode is set to PROFILE_POSITION and the command to reach the position absolutePositionToClose
is sent to the controller.
Note
A homing of the controller must be done before a close command can be executed. This homing is done automaticaly in high level commands like unloadFilter
or loadFilter
.
Synopsis#
close
The command close has to be sent to component clamp
.
Conditions to execute close#
The conditions to execute close are :
- The homing of the loader clamp controller must have been done.
- A filter must be in the loader.
Configurable parameters for close#
The configurables parameters for command close
are
absolutePositionToClose
: this is the position of the hooks when clamp is closed.timeoutForClosingHooks
: if closing the clamp last more than this amount of time, then the subsystem goes in ERROR, units = "milliseconds".
Local Protection System#
How#
- Check if conditions of closing loader clamps are respected. (see above)
- Check that component controller is not in fault.
- Set clamp controller mode to PROFILE_POSITION.
- Enable controller and set target position to
absolutePositionToClose
. - Wait until clamp is closed, read continuously loader clamp sensors and position in
hooksController
. - When command is completed, send command
disableOperation
tohooksController
.
Info
Command close
is completed with succes when :
-
loaderCloseSensor1
toloaderCloseSensor4
are ON -
position of the clamp is
absolutePositionToClose
(+/- 5 microns) -
hooksController.isTargetReached()
returns true
The java code to start action :
hooksController.checkFault();
hooksController.changeMode(PROFILE_POSITION);
hooksController.enableAndWriteAbsolutePosition(this.absolutePositionToClose);
Note
Whatever happends during motion, if motion is stopped by controller being in default or hardware issues, controller is always disabled.