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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 :

  1. carrier/raiseProfileVelocity
  2. carrier/raiseProfileAcceleration
  3. carrier/slowProfileDeceleration
  4. carrier/goToHandOff
  5. clamp/close

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