320 Troubleshooting the Tape Library
T121
T121 - Robotics Y-Axis Motion Failure, No Tape In Picker
Description This ticket applies to Model 2 robots only.
GUI Description: A Y-axis motion error occurred, which does not seem to be
the result of robotic obstruction.
Explanation: A y-axis motion error that cannot be considered a complete
obstruction has been reported by robotics. Because a tape cartridge is not in
the picker, tape cartridge recovery is not necessary as part of the resolution
strategy. This RAS ticket only occurs during a robotics move, not during a
robotics get or put.
Detection Scenarios • A specified move in the y-axis cannot complete.
• Robotics firmware reports a y-axis error condition.
Root Causes • A physical obstruction in the path of the robot's motion. Examples include
tape cartridges that are extending from the picker assembly or from a
storage location, as well as tape cartridges or debris that may have collected
on the floor of the library.
• A large number of electrical hardware failures. Firmware or hardware
detects that motion control is not occurring properly (encoder issues, motor
driving circuits, motor winding issues, etc.).
• A relatively small number of mechanical hardware failures that do not result
in the detection of a complete obstruction, but where motion control
generates robotics firmware error codes (contamination or damage to
encoder wheel, high friction, etc.).
Service Resolution
Steps
Perform DR088 - Resolve Robotics Y-Axis Motion Failure
on page 405.
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 Robot Assembly
2 Cable Spool
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