T007 - Dell PowerVault ML6000 Maintenance Manual

T007

T007 - X, Y, Theta Motion Obstruction, Motion OK
Description
Detection Scenarios
Root Causes
Service Resolution
Steps
Possible CRUs/FRUs
202
GUI Description: The robot is unable to properly move due to an obstruction
in its motion path.
Explanation: A complete physical obstruction exists in a motion path that
precludes repeated attempts to move beyond a certain point in the range of
motion. Servo control appears normal, but a move profile cannot be
completed. The tape cartridge may have been returned to a home slot.
• A specified move in the X-axis cannot complete, but motion control appears
normal.
• A specified move in the Y-axis cannot complete, but motion control appears
normal.
• A specified move in the Theta (θ) axis cannot complete, but motion control
appears normal.
• Human intervention that results in foreign material or an obstructing object
in a library motion path.
• Certain damaged hardware conditions that obstruct motion at a particular
point along an axis.
• Robot parking tab is out of position and is interfering with robot Y-axis travel.
1 See also: DR028 - Resolve Motion Obstruction
2 Open the main door and inspect the picker path to ensure no obstructions
are visible. Check the Y-climber and picker for any packaging material or
robot restraint (shipping posts) still left in place. Verify that the robot parking
tab is in the unparked position and not interfering with the robot Y-axis travel.
Ensure that the robot is level.
Clear the RAS ticket and retry the original operation. If using library firmware
400G or later, run an IVT - Robot test through the Library Tests option in the
operator panel.
Note: IVT is optimized for library firmware versions 520G and above and
libraries built after July 1, 2008 (serial numbers with last four digits 8602 and
above).
• If your library was built on or before July 1, 2008, and you are running
firmware version 520G or later, you will not be able to run the IVT test, even
though the selection is available.
• If your library was built on or before July 1, 2008, and you are running
firmware version 500G or earlier, you can run the test, but it is not
recommended because it may produce erroneous results.
Note: Read and perform all resolution steps before dispatching any parts.
Dispatch the first part listed below for replacement. If this does not solve the
problem, dispatch the second part, and so on, in order. Dispatch only one part
(or set of parts) at a time.
1 Picker Assembly (if Model 1 robot is installed) or
Robot Assembly (if Model 2 robot is installed)
2 Y-carriage Assembly (if Model 1 robot is installed)
on page 379.
Troubleshooting the Tape Library