Initialize And Calibrate Mechanisms; Vision Calibration; Hand-Camera Assembly Testing - StorageTek L180 Installation Manual

Initialize and Calibrate Mechanisms

Robotic mechanism parameters are loaded into processor memory and
calibration routines are executed. Monitored in this sequence are:
Reach safe
position:
Z motor
calibration:
Theta motor
calibration:
Because there are three potential capacity variations for the library (L180-80,
L180-140, L180-180), the library size is also determined during this step.

Vision Calibration

After calibration of the robotic motors, the robot moves to the vision calibration
decal (below the drive column). Thresholds for the line scan camera are:
Target:
Bar code:
Note: The camera is operational during initialization, during audit, and when

Hand-Camera Assembly Testing

Calibration and testing of the hand assembly is accomplished near the vision
calibration decal. The proximity sensor is aimed at the decal and tested to be
"on." The hand is then moved away from the decal and the sensor is tested to
be "off."
The gripper mechanism is extended to test for proper opening and closing.
95896
The reach mechanism fully retracts and the reach safe sensor
must be detected before any theta or Z motion is initiated. This
prevents possible damage to the hand assembly or a customer
tape.
The Z mechanism moves from end-stop to end-stop. The
distance and time for this motion is compared against the
mechanism parameters within the microcode.
The theta mechanism moves from theta-stop to theta-stop. The
distance and time for this motion is compared against the
mechanism parameters within the microcode.
Readability and accuracy of the target image for locating array
positions
Readability and accuracy of bar code information
tapes are entered into a CAP
During normal operation, the camera is turned off and tapes are located
by referencing the VOLSER and cell location within the MPC/MPCL card
memory.
Eleventh Edition
StorageTek Proprietary
Initialization Sequence
4-7