Qualstar XLS Series Installation Manual page 20

1.2 Library Resource Module (LRM)
1.2.3 Robotic Handler and Barcode Reader
Shown in Figure
anywhere on the front wall or the back wall. It can also access slots on the rotating
carousel of an attached MEM. The handler is controlled by the medium changer interface
and shared by all host software applications on a first-come, first-served basis.
Figure 1-12 Robotic handler (shown reaching into an attached MEM)
Gripper Assembly
The gripper assembly is the part of the handler that actually picks and places the
cartridges in the storage slots and tape drives. The gripper moves along four axes, as
follows:
• The X-axis is the horizontal axis.
• The Y-axis is the vertical axis.
• The Theta-axis is the rotating axis that allows the gripper assembly to reach
cartridge slots on the front, back, and sides of the cabinet.
• The Z-axis is the in-and-out axis. The fingers on the gripper assembly are opened
and closed using a solenoid and use a sensor to determine if they are open or
closed.
Barcode Reader
Located on the gripper assembly, the barcode reader performs two types of scans:
• Fiducial scan. Fiducials are the black and white triangles mounted on either
side of every cartridge magazine (see
1-12
1-12, the robotic tape handler within each LRM can access cartridges
Figure 1-13 on page 1-13). There is also a
501601 Rev. 07-01-19