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Hardware Operator's Guide
Robot Assembly
The robot moves cartridges to and from the storage cells, the CAP, and the tape
drives when directed by the host (controlling) software. The robot's major
components are a Z column assembly and a hand/camera assembly. A theta motor
and Z motor enable horizontal and vertical motion, respectively.
Z Column Assembly
The Z column assembly incorporates the mechanisms necessary to move the hand
vertically and in horizontal rotation (theta). These movements allow the hand to
move cartridge tapes to and from storage cells, the CAP, and the tape drives.
Hand/Camera Assembly
The hand/camera assembly picks cartridge tapes and moves them to and from tape
drives, storage cells, and the CAP. The camera reads coded information on the
storage cells and cartridge tapes for position location and library audits.
Theta Motor
The theta motor drives a belt that moves the Z column assembly (including the
hand) in horizontal rotation to reach the storage cells and tape drives.
Z Motor
The Z motor drives a belt that moves the hand/camera assembly up and down to
reach the storage cells and tape drives.
Electronics Module
The electronics module (EM) incorporates the controller card (CYC card), two fan
assemblies, and a power supply. SCSI commands and microcode are downloaded
and stored on the CYC card.
The EM contains 2 MB of dynamic RAM (DRAM), 128 kB of nonvolatile RAM
(NVRAM), and 512 kB of flash programmable ROM (PROM). The CYC card
contains a 32-bit microproccessor coordinating motion control, the vision system,
SCSI commands, and operator panel commands and display information.
Cartridge Access Port
The CAP permits adding or removing cartridges without interrupting normal
library operations. Refer to Chapter 3, "Maintaining the Library" for more
information about the CAP.
DLT Library
Library Components
1–3
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