HP SureStore Optical Jukebox 160ex Service Manual page 196

Theory of Operation
Jukebox Robotics
assembly/leadscrew nut to rotate the mailslot assembly toward and
away from the user.
Macro-moves consist of one or more combinations of position or
saturation type micro-moves.
There are two types of micro-moves:
• Position move: Moves the driving motors a given distance at peak
speed and is used for high-speed, unobstructed movements of known
distances.
• Saturation move: Same as a position move except that a high force is
expected within a given distance; however, motion is halted if force
exceeds a specified threshold. These moves are used for low-speed
unobstructed movements that are adaptable.
Each micro-move within a specific macro-move has a unique set of
stability, performance, error recovery, force, and reliability criteria.
Therefore, each micro-move is assigned a unique identification code (ID),
which is used to determine how the move should be performed.
6-4 Chapter 6