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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 = mA
  • timeoutForOpeningHooks : if opening the clamp lasts more than this amount of time, then the subsystem goes in ERROR, units = "milliseconds"

Local Protection System#

How#

  1. Check if conditions of loader opening are respected. (see above)
  2. Check that loader clamp controller is not in fault.
  3. Set clamp controller mode to CURRENT
  4. Send currentToOpen to hooksController
  5. Wait until clamp is opened, read continuously loader clamp sensors and current in hooksController.
  6. When command is completed, send command disableOperation to hooksController.
  7. Do the homing of hooksController

Info

Command open is completed with succes when

  • the 4 openSensors (loaderOpenSensor1 to loaderOpenSensor4) are ON

  • the 4 closeSensors (loaderCloseSensor1 to loaderCloseSensor4) are OFF,

  • and when current in hooksController is equal to currentToOpen.

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.

Troubleshooting and recovery#

If opening does not start#

If opening stops before clamp is in state OPEN#

If an ALARM is raised during opening#

If an ALARM is raised at the end of action open#