Skip to content

Description of moveFilterFromStorageToHandoff#

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

It is a sequence of actions :

  • Move loader carrier with the filter to position ENGAGED at high speed.
  • Unclamp loader clamp.
  • Move loader carrier with the filter to position HANDOFF at low speed.

Note

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

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

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

Synopsis#

moveFilterFromStorageToHandoff

The command moveFilterFromStorageToHandoff has to be sent to component loader.

Conditions to execute moveFilterFromStorageToHandoff#

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

Tip

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

Local Protection System#

AP2 & AF3 must be ON.