Extension Drive Motor And Belt; Extension Carriage Interconnect Pwa; Extension Motor (M3) And Encoder; Figure - Sun Microsystems Enterprise Tape Library 7/3500 Field Service Manual

Y-Umbilical
To Actuator
Driver PWA

FIGURE 1-7

Extension Drive Motor and Belt

The extension drive motor is located at the front of the extension axis assembly. The
extension belt is located along the left edge of the extension axis assembly. The
24 VDC brush motor engages the belt, while the belt drives the cartridge gripper
assembly forward and backward on the extension rail of the extension axis assembly.

Extension Carriage Interconnect PWA

The extension carriage interconnect PWA is located on the bottom of the extension
axis assembly. The extension home sensor is mounted to the extension carriage
interconnect PWA. This PWA receives low-level signals from the extension motor
encoder, CIG sensors, bar code scanner, gripper sensors, extension home and y-axis
sensors. The low-level signals are buffered and driven down the Y-umbilical to the
actuator driver were they are eventually received at the robotics controller. This
PWA also acts as an distribution/interconnection point for gripper and extension
motor drives from the actuator driver through the Y-umbilical.

Extension Motor (M3) and Encoder

The extension motor is a +24 VDC/2A brush motor with a 10:1 gearhead. The motor
drives the extension belt, which in turn, drives the cartridge gripper assembly
forward and backward on the extension rail of the extension axis assembly.
The extension motor encoder mounts on the bottom of the extension brush motor.
The encoder is a 100 lines per revolution, two channel encoder, which gives position
feedback to the robotics controller.
Gripper Umbilical
(A5)
J2
Extension Axis
Interconnect
PWA
J3
J1
J5
J4
Extension Axis Assembly Block Diagram
(A6)
J3
Gripper
Interconnect
Extension
PWA
Motor
J5
(M3)
Y-Axis
Conf. Sensor
(S2)
Gripper Motor
J2
CIG TX
J3
PWA
J4
CIG RX
PWA
Bar Code
Scanner PWA
TA00035a
Chapter 1 Library Overview 11