Description of unclamp#
The command unclamp unclamp loader clamp, that means that is loosens the constraint on the clamp.
The loader clamp is controlled by an EPOS controller : hooksController
.
There is an absolute encoder to know position of the hooks. To unclamp loader clamp, the clamp controller mode is set to PROFILE_POSITION and the command to reach the position relativePositionToUnclamp
is sent to the controller.
Tip
Before this command, clamp state has to be CLAMPED
.
After the execution of command clamp
when it's successful, clamp state is CLOSED
.
Synopsis#
unclamp
The command unclamp has to be sent to component clamp
.
Conditions to execute unclamp#
- A filter must be in the loader.
- Carrier must be at
ENGAGED
position. - Clamp must be in state
CLAMPED
orUNDER_CLAMPED
.
Configurable parameters for unclamp#
The configurables parameters for command unclamp
are
relativePositionToUnclamp
: relative position in qc to unclamp when hooks are CLAMPEDtimeoutForClampingHooks
: if unclamping the clamp last more than this amount of time, then the subsystem goes in ERROR.
Local Protection System#
How#
- Check if conditions of unclamping are respected. (see above)
- Check that component controller is not in fault.
- Set clamp controller mode to PROFILE_POSITION.
- Enable controller and set target position to
relativePositionToUnclamp
. - Wait until clamp is closed, read continuously loader clamp sensors and position in
hooksController
. - When command is completed, send command
disableOperation
tohooksController
.
The java code to start action :
hooksController.checkFault();
hooksController.changeMode(PROFILE_POSITION);
hooksController.enableAndWriteRelativePosition(this.relativePositionToUnclamp);
Note
Whatever happends during motion, if motion is stopped by controller being in default or hardware issues, controller is always disabled.