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Provides a monitor function, mirroring SCSI commands and inter-processor commands via serial
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port Comm 1.
Maintains the operational logs stored in the NVRAM.
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Communicates commands and receives status from the Motion Processor via the inter-
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processor serial communication port.
Motion Processor
The Motion Processor contains code in it's internal EPROM (Boot Code) which has elemental inter-
processor communication, diagnostic LED control, and keypad I/O capability. During the boot process,
the Motion Processor communicates with the keyboard as dictated by the Main Processor. When
commanded by the Main Processor, the Motion Processor switches to operating code in it's RAM
memory (see Main Processor description on previous page).
Once executing the code in its RAM memory, the Motion Processor performs the following functions:
Initializes all ports and registers.
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Maintains position tables for the X-axis coordinates of the Media Picker assembly and relates
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them to element addresses as assigned in the SCSI interface specification.
Monitors position by maintaining X-axis coordinate counts from the X-axis encoder interrupts.
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Calculates position offsets for motion commands received from the Main Processor and
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communicates them to the Micro-Stepper Processor.
Writes a binary pattern to the Diagnostic LED's (located on the Main Controller board) associated
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with currently active firmware processes.
Writes data to the keyboard, and LED's. Reads switch information after an interrupt, reads door
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open sensors and cartridge present sensors on a polled basis.
Controls and monitors the Picker Processor via one of the two serial ports.
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Controls the Drive Mux Bus. Selects the appropriate drive assembly, monitors the assembly's
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serial stream information via the assembly's serial multiplexer board, monitors the drive door
switch status via the Drive Mux Bus, and controls the Door Open Stepper Motor via the Drive
Mux Bus.
Picker Processor
The Picker Processor, mounted inside the Media Picker, interfaces to the Motion Processor via a
balanced differential serial port. The Picker Processor controls the following picker functions:
Monitors Media Picker Entry/Exit Port cartridge sensors.
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Monitors and keeps track of the Gripper Carriage position via the three carriage optical sensors.
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Controls the enable and direction of the gripper motor. Monitors the gripper limit signal which
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indicates that the jaws have stalled or reached a limit.
Controls the enable, direction, and break of the roller motor.
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Controls the enable, direction, and break of the carriage motor.
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Controls the trigger on the Barcode reader and monitors the serial Barcode reader data.
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adic
Service Procedure
63-1181-01 Rev A
Scalar 218 Theory of Operation
3
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