Description of open#
The command open opens loader clamp.
Info
Loader clamp is made of 4 hooks. Each hook has a loaderOpenSensor which is ON when hook is opened, and a loaderCloseSensor which is ON when hook is closed.
The loader clamp is controlled by an EPOS controller : hooksController
.
To open loader clamp, the clamp controller mode is set to CURRENT and currentToOpen
is sent to the controller.
Synopsis#
open
The command open
has to be sent to component clamp
.
Conditions to execute open#
The conditions to execute open are :
- There is no filter in the loader.
- Or if a filter is in the loader, carrier must be at
HANDOFF
and the autochanger must hold the filter.
Configurable parameters for open#
The configurables parameters for command open
are
currentToOpen
: current to open hooks, units = mAtimeoutForOpeningHooks
: if opening the clamp lasts more than this amount of time, then the subsystem goes in ERROR, units = "milliseconds"
Local Protection System#
How#
- Check if conditions of loader opening are respected. (see above)
- Check that loader clamp controller is not in fault.
- Set clamp controller mode to CURRENT
- Send
currentToOpen
tohooksController
- Wait until clamp is opened, read continuously loader clamp sensors and current in
hooksController
. - When command is completed, send command
disableOperation
tohooksController
. - Do the homing of
hooksController
Info
Command open
is completed with succes when
-
the 4 openSensors (
loaderOpenSensor1
toloaderOpenSensor4
) are ON -
the 4 closeSensors (
loaderCloseSensor1
toloaderCloseSensor4
) are OFF, -
and when current in
hooksController
is equal tocurrentToOpen
.
The java code to start action :
hooksController.checkFault();
hooksController.changeMode(CURRENT);
hooksController.enableAndWriteCurrent((short) this.currentToOpen);
Note
Whatever happends during motion, if motion is stopped by controller being in default or hardware issues, controller is always disabled.