322 Troubleshooting the Tape Library
T123
T123 - Robotics X, Z, Theta Axis Motion Failure, No Tape In Picker
Description This ticket applies to Model 2 robots only.
GUI Description: An X, Z, or Theta axis motion error occurred, which does
not seem to be the result of a robotic obstruction.
Explanation: An x, z, or theta 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 may occur during a robotics move or
during a robotics get or put.
Detection Scenarios • A specified move in the x, z, or theta axis cannot complete.
• Robotics firmware reports an x, z, or theta 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 DR089 - Resolve
X, Z, Theta Axis Motion Failure on page 406.
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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