Description of moveEmptyToHandoffAndClose#
The command moveEmptyToHandoffAndClose moves empty carrier loader to HANDOFF
and close loader clamp.
It's a sub command of the command unloadFilter.
It is a sequence of actions :
- Move loader carrier to position
HANDOFF
with care : at high speed, but slow develeration. - Close loader clamp.
Note
close command lets the clamp in state CLOSED
.
This sequence of actions is done with the following sequences of commands :
Info
If the homing of the clamp comtroller has not been done before, it is done automaticaly just before the execution of command close
.
Synopsis#
moveEmptyToHandoffAndClose
The command moveEmptyToHandoffAndClose has to be sent to component loader
.
Conditions to execute moveEmptyToHandoffAndClose#
- Loader carrier has to be empty.
Tip
To know if loader carrier holds a filter, use loader command isEmpty
.
Local Protection System for command moveEmptyToHandoffAndClose**#
AP2 & AF3 must be ON