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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#

  1. Check if conditions of closing loader clamps are respected. (see above)
  2. Check that component controller is not in fault.
  3. Set clamp controller mode to PROFILE_POSITION.
  4. Enable controller and set target position to absolutePositionToClose.
  5. Wait until clamp is closed, read continuously loader clamp sensors and position in hooksController.
  6. When command is completed, send command disableOperation to hooksController.

Info

Command close is completed with succes when :

  • loaderCloseSensor1 to loaderCloseSensor4 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.

Troubleshooting and recovery#

If closing does not start#

If closing stops before clamp state is CLOSED#

If an ALARM is raised during close action.#

If an ALARM is raised at the end of close action.#