Description of openClampAndMoveEmptyToStorage#

The command openClampAndMoveEmptyToStorage moves empty loader carrier from HANDOFF to STORAGE. It's a sub command of the command loadFilter.

It is a sequence of actions :

• Open loader clamp.
• Move loader carrier with the filter to position STORAGE at high speed.

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

1. clamp/open
2. carrier/raiseProfileVelocity
3. carrier/raiseProfileAcceleration
4. carrier/raiseProfileDeceleration
5. carrier/goToStorage

Synopsis#

openClampAndMoveEmptyToStorage

The command openClampAndMoveEmptyToStorage has to be sent to component loader.

Conditions to execute openClampAndMoveEmptyToStorage#

• Loader carrier must hold a filter at HANDOFF position.
• Conditions to open the loader clamp must be respected.

Local Protection System#

AP2 & AF3 must be ON.