def unmount(segment, puck, sample, force=False):
    """
    """
    print "unmount: ", segment, puck, sample, force
    
    #Initial checks
    assertValidAddress(segment, puck, sample)
    robot.assert_no_task()
    robot.state.assertReady()
    robot.assert_cleared()

    if hexiposi.homed == False:
        raise Exception ("Hexiposi is not homed")

    #Enabling
    enable_motion()

    set_hexiposi(segment)

    if not force:
        #Clearing for image processing
        robot.move_park()
        assert_img_in_cover_pos(segment)

    location = get_current_point()

    
    try:
        robot.get_gonio()
    except:
        #TODO: recover
        raise

    try:
        robot.move_dewar_wait()        
    except:
        #TODO: recover
        raise

    try:
        robot.put_dewar(segment, puck, sample)
    except:
        #robot.move_dewar()        
        raise