PowerVault ML6000 Maintenance Guide 335
T136
T136 - Robotics Z Axis Motion Failure
Description This ticket applies to Model 1 robots only
.
GUI Description: An unrecoverable robot motion failure has occurred in the
Z-axis.
Explanation: An unrecoverable robot motion failure occurred in the z-axis.
Because a tape cartridge may or may not be present in the picker, tape
cartridge recovery must be part of the resolution strategy.
Detection Scenarios A specified motion in the Z-axis cannot complete.
Root Causes • Any of 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
Perform DR102 - Resolve Robotics Z Axis Motion Failure
on page 412.
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
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