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Description of moveFilterFromHandoffToStorage#

The command moveFilterFromHandoffToStorage moves a filter in the loader from HANDOFF to STORAGE. It's a sub command of the command unloadFilter.

It is a sequence of actions :

  • Move loader carrier with the filter to position ENGAGED at slow speed.
  • Clamp loader clamp.
  • Move loader carrier with the filter to position STORAGE at high speed.

Note

clamp command lets the clamp in state CLAMPED. ENGAGED position is very near HANDOFF position.

This sequence of actions is done with the following sequences of commands :

  1. carrier/slowProfileVelocity
  2. carrier/slowProfileAcceleration
  3. carrier/slowProfileDeceleration
  4. carrier/goToEngaged
  5. clamp/clamp
  6. carrier/raiseProfileVelocity
  7. carrier/raiseProfileAcceleration
  8. carrier/raiseProfileDeceleration
  9. carrier/goToStorage

Synopsis#

moveFilterFromHandoffToStorage

The command moveFilterFromHandoffToStorage has to be sent to component loader.

Conditions to execute moveFilterFromHandoffToStorage#

  • Loader carrier controller must not be in fault.
  • Loader carrier must hold a filter.
  • Loader carrier must be between HANDOFF and ENGAGED position.
  • Loader clamp must be CLOSED.

Tip

To know if loader carrier holds a filter, use loader command isEmpty.

Local Protection System#

AP2 & AF0 & AF1 must be ON.