Qualstar XLS Series Installation Manual page 164

11.3 Calibrating an Expansion Pod Equipped Library
2. Record the numbers for XPOS (X position) and TPOS (Theta position) (yaw) for
the left column, A and B values in
X
Average X
Table 11-2 Measured values for left side expansion pod
11.3.4 Find the Average X and Theta Values
1. Add the X position values for each column and find the average value.
2. Add the Theta position values for each column and find the average value.
3. Record the average value for each X and Theta position in the tables for both A
and B columns.
11.3.5 Measure Other Needed Values
You should already have theta back wall and front wall values defined in the View/Edit
Hardware Configuration, however, if new values are needed, please complete the
following procedure:
1. From the Robot section in X-link, select Position Robot, which homes all axes
and positions the gripper to an easily accessible location.
2. Open the XLS Tape Library LRM Door(s).
3. Insert the gripper alignment cartridge into slot 36 on the back wall of the right
column in the XLS Tape Library.
11-18
Left Side A
Theta (yaw)
Average Theta
(yaw)
Table 11-2.
Left Side B
X
Average X
Theta (yaw)
Average Theta
(yaw)
501601 Rev. 07-01-19