PowerVault ML6000 Maintenance Guide 201
T006
T006 - X, Y, Theta Motion Profile Failure, No Tape In Picker, Motion NOT OK
Description GUI Description: The robot failed to move due to an axis motion problem.
Explanation: An unrecoverable motion failure occurs at an operational point
where a tape cartridge is not in the picker. Because the tape cartridge is not in
the picker, tape cartridge recovery is not necessary as part of the resolution to
this issue. This cause specifically excludes any Z-axis motion failures.
Specifically included are motion failures that occur while pivoting, moving on
the X-axis, or moving on the Y-axis. If the RAS ticket details indicate that the
Y-axis has problems, both the picker and the Y-carriage assembly should be
replaced. Otherwise, only the picker should be replaced.
Detection Scenarios • A specified move in the X-axis cannot complete.
• A specified move in the Y-axis cannot complete.
• A specified movement in the Theta (θ) axis cannot complete.
Root Causes • A large number of electrical hardware failures. Code or hardware detects
that motion control is not occurring properly (encoder issues, motor driving
circuit issues, motor winding issues, cable connections issues, etc.).
• A relatively small number of hardware errors that do not result in complete
obstruction but where servo control does not appear to be normal.
Service Resolution
Steps
1 See also: DR005 -
Resolve Motion Failure on page 368.
2 Open the main door and inspect the picker path to ensure that no
obstructions are visible. Check the Y-climber and picker for any packaging
material still left in place. Clear the RAS ticket and retry the original
operation. If using library firmware 400G or later, run an IVT - Robot test
through the Library Tests option in the operator panel.
Note: IVT is optimized for library firmware versions 520G and above and
libraries built after July 1, 2008 (serial numbers with last four digits 8602 and
above).
• If your library was built on or before July 1, 2008, and you are running
firmware version 520G or later, you will not be able to run the IVT test, even
though the selection is available.
• If your library was built on or before July 1, 2008, and you are running
firmware version 500G or earlier, you can run the test, but it is not
recommended because it may produce erroneous results.
Possible CRUs/FRUs Note: Read and perform all resolution steps before dispatching any parts.
Dispatch the first part listed below for replacement. If this does not solve the
problem, dispatch the second part, and so on, in order. Dispatch only one part
(or set of parts) at a time.
1 Picker Assembly (if Model 1 robot is installed) or
Robot Assembly (if Model 2 robot is installed)
2 Y-carriage Assembly (if Model 1 robot is installed)
3 Cable Spool
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