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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 or UNDER_CLAMPED.

Configurable parameters for unclamp#

The configurables parameters for command unclamp are

  • relativePositionToUnclamp : relative position in qc to unclamp when hooks are CLAMPED
  • timeoutForClampingHooks : if unclamping the clamp last more than this amount of time, then the subsystem goes in ERROR.

Local Protection System#

How#

  1. Check if conditions of unclamping are respected. (see above)
  2. Check that component controller is not in fault.
  3. Set clamp controller mode to PROFILE_POSITION.
  4. Enable controller and set target position to relativePositionToUnclamp.
  5. Wait until clamp is closed, read continuously loader clamp sensors and position in hooksController.
  6. When command is completed, send command disableOperation to hooksController.

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.

Troubleshooting and recovery#

If unclamping does not start#

If unclamping stops before the end of action#

If an ALARM is raised during unclamping#

If an ALARM is raised at the end of unclamping#