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Description of goToAbsolutePosition#

The command goToAbsolutePosition moves loader carrier to a new position given as argument.

The loader carrier is controlled by an EPOS controller : carrierController.

Info

carrier controller has an absolute encoder.

Synopsis#

goToAbsolutePosition <carrier_position>

where <carrier_position> is the position of the carrier we want to go to.

This command has to be sent to component carrier.

Example#

If we want to move loader carrier to position 987500:

rotateToAbsolutePosition 987500

Conditions to execute goToAbsolutePosition#

  • Carrier controller must not be in fault.

  • Loader can't move if there is no filter in carrier and clamp is closed.

  • If a filter is at HANDOFF in the loader, carrier can't move if it's held both by loader and autochanger.

  • If loader is between Storage and Engaged with a filter and another filter is in the autochanger, loader carrier can't move.

Local Protection System#

  • On camera with a filter in loader : AP2 & AF0
  • On camera, without filter in loader : AP2 & AF1

How#

  1. Check if conditions of loader carrier motion are respected. (see above)
  2. Check that carrier controller is not in fault.
  3. Set velocity, acceleration and deceleration in carrier controller according filter presence and carrier position.
  4. Send command enableAndWriteAbsolutePosition <carrier_position> to carrierController.
  5. Wait until carrier motion is completed and read continuously carrier position.
  6. When command is completed, send command disableOperation to carrierController.

Info

Command goToAbsolutePosition is completed with succes when carrier position is equal to the position to reach.

Note

Whatever happends during motion, if motion is stopped by controller in default or hardware issues, controller is always disabled.

The java code to start action :

        carrierController.checkFault();
        checkAndChangeProfileVelocity();
        checkAndChangeProfileAcceleration();
        checkAndChangeProfileDeceleration();
        carrierController.enableAndWriteAbsolutePosition(
            this.absoluteTargetPosition);

Configurables Parameters for loader carrier motion#

The parameters for loader carrier motion are mostly parameters to configure carrier controller : carrierController.

There parameters below are configurable parameters for component carrier.

Parameters for speed mode#

The parameters for carrier speed mode on the controller are :

  • ProfileVelocity
  • ProfileAcceleration
  • ProfileDeceleration

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

  • for slow mode :
        lowSpeed
        lowAcceleration
        lowDeceleration
  • for fast mode :
        highSpeed
        highAcceleration
        highDeceleration