Service manual

96022 Revision L A-5
StorageTek Protected
LLC Card
If the motor fails to lock into correct position, the LLC card posts an FSC to the operator
panel and the FSC log.
Z Drive Assembly
The Z drive assembly is composed primarily of the Z shaft, ±12 V motor, pulleys, and
drive belt. The Z drive, controlled by the LLC card, moves the hand vertically within the
library. Like the theta, a closed-loop servo feedback configuration controls Z positioning.
The Z drive operates the same as the theta, described above.
Hand Assembly
The hand assembly is composed primarily of the reach carriage, reach belt, reach motor,
and the camera. The hand mounts to the carriage on the Z shaft.
The hand removes cartridges from a cell, CAP, or drive (called a “get” operation), and
places cartridges into a cell, CAP, or drive (called a “put” operation). Hand signals to and
from the LLC card are routed through the flexible cable connectors on the Z shaft.
The camera assembly is composed primarily of the LLL card (light source), LLJ card
(charge-coupled device imager), and the lens. The cartridge detect sensor on the LLJ card
detects if a cartridge is seated in the hand. The proximity sensor on the LLL card detects
if a cartridge is in the cell immediately in front of the hand assembly.
The camera is operational during:
• Initialization
•Audit
• When cartridges are entered into the CAP
During normal operation, the camera is turned off, and the robot locates cartridges by
referencing the volume number and cell location within the LLC card memory.
If any hand failure occurs, the LLC card posts an FSC to the FSC log.
■ LLC Card
The LLC card, in the electronics module, is the processor card. It uses the IBM
PPC403GCX 32-bit RISC embedded controller. The card is assigned a permanent
Ethernet address before shipment. The FRU PROM stores the address.
A +12 V fan cools the card. The fan is monitored by the LLC processor. If the fan fails, a
Hall-effect sensor detects the lack of motion in the fan blades, and an FSC is posted to
the FSC log and on the Hardware Monitor menu on the operator panel.
The servo system controls the robotic speed and positioning. The card contains three 12
V pulse width modulated current mode motor drivers for the theta, Z, and reach
operation. These switching servo amplifiers control how 12 V power is connected to the
motor leads. The servo current loop is closed in hardware.