Service manual

96022 Revision L A-1

StorageTek Protected

Principles of Operation

This appendix provides information about the components and operation of the library.

■ Initialization Sequence

Initialization, also called an initial program load (IPL), occurs when you power-on the

library, or when you press the

RESET button.

The LLC card directs the initialization process, which consists of:

• Robotic mechanism initialization and calibration

• Camera calibration

• Proximity sensor calibration

•Cell audit

• Drive initialization

• CAP audit

• Cleaning cartridge cell audit

• Hand initialization

Robot Initialization and Calibration

The robot moves to the different end stops:

1. Z motor calibration: The Z drive assembly moves from end stop to end stop. The

distance for this motion is compared against the Z drive parameters within the

firmware.

2. Theta motor calibration: The theta assembly moves from theta stop to theta stop.

The distance for this motion is compared against the theta parameters within the

firmware.

Camera Calibration

The robot moves to the vision calibration label above the CAP. The camera checks the

readability and accuracy of bar code information.

Proximity Sensor Calibration

The proximity sensor is aimed at the calibration label above the CAP to see if the sensor

indicator turns on. The hand assembly moves away from the label to test that the

indicator turns off. The sensor detects whether a cartridge is in a cell.