T007: X, Y, Θ motion obstruction, motion OK
Description A complete physical obstruction exists in a motion path
that precludes repeated attempts to move beyond a certain
point in the range of motion. Servo control appears normal
but a move profile cannot be completed. Cartridge may
have been returned to a home slot.
Detection Scenarios
1. A specified move in the X-axis cannot complete but
motion control appears normal.
2. A specified move in the Y-axis cannot complete but
motion control appears normal.
3. A specified move in the Θ-axis cannot complete but
motion control appears normal.
Root Causes
1. Operator intervention that results in foreign material or
an obstructing object in a library motion path.
2. Picker locking mechanism left engaged in the library
motion path.
3. Certain damaged hardware conditions that obstruct
motion at a particular point along an axis.
Possible CRU Replacements
v Tape Cartridge
v Drive Sled
Possible FRU Replacements
v Picker Assembly
v Y-axis Assembly
v Enclosure
Resolution
v Verify that no obstructions are present in the path of the
Picker.
v Perform “DR028: Motion Obstruction Diagnostic” on
page 10-37.
v If the problem persists, refer to “Diagnosing a Problem”
on page 9-3 for additional diagnostic procedures.
T008: Cannot home, motion OK
Description Robot motion and servo control appear normal but home
sensors do not transition when the robot is moved through
prescribed search distances and times.
Detection Scenarios
1. X home sensor does not transition while homing.
2. Y home sensor does not transition while homing.
3. Θ home sensor does not transition while homing.
4. Z home sensor does not transition while homing.
Root Causes
1. Malfunctioning home sensors.
2. Missing or damaged mechanical flags that trigger home
sensors.
3. Hardware failures that result in apparent normal
motion according to encoders, but no actual motion (ex.
slipping gears).
4. Picker path obstruction.
Possible CRU Replacements
v Library Control Blade
Chapter 10. Service Action Tickets (Txxx) and Diagnostic Resolutions (DRxxx) 10-7
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