Service manual

Robot
A-4 Revision L 96022
StorageTek Protected
• If a power supply fails, the LLC card posts and error to the fault symptom code
(FSC) log. The Hardware Monitor menu on the library operator panel also shows
which power supply has failed.
To power-off the library, turn off the two input line switches,. If you are replacing a
power supply, turn off only that corresponding switch and do not turn off the input line
switches.
Power supply voltages are listed in Table A-2.
■ Robot
The robot moves cartridges among the storage cells, drives, and cartridge access port
(CAP).
The robot, behind the front door, consists primarily of the:
• Theta assembly for lateral movement
• Z drive assembly for vertical movement
• Hand assembly to mount and dismount cartridges. The camera assembly, attached to
the hand, reads volume numbers and calibration targets.
Most of the robotic components are mounted on the Z shaft. The hand assembly,
mounted on the Z carriage, is moved up and down the shaft to access the cells. The cells
are stacked in columns; the columns are arranged around the robot. The shaft rotates the
Z shaft 109.5 degrees.
Theta Assembly
The theta assembly is composed primarily of the Z carriage assembly, ±12 V motor,
pulley, and drive belt. The theta, controlled by the LLC card, moves the hand laterally
within the library. A closed-loop servo feedback configuration controls theta positioning.
During initialization, the LLC card applies voltage to the motor to obtain the motor’s
range of motion. The LLC card tracks the position of the motor by reading the lines
etched on the motor tachometer disk.
Table A-2. AC Power Supply Voltage Uses
3.3 V +5 V -5 V +12 V
Fibre Channel router Fibre Channel router CSE port Fibre Channel router
logic
servos
1
servos
processor hand fans
drives drives
logic
operator panel
1
Servos are Z, theta, and hand motors.