Resolution
v Perform “DR001: Resolve Picker Cartridge Presence” on page 6-60
v Perform “DR005: Resolve Motion Failure” on page 6-62.
T006: X, Y, Θ 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 cartridge is not in the Picker. Because the cartridge is not in the
Picker, 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 ticket details indicate that the Y-axis has
problems, then both the picker and the Y-carriage assembly should be
replaced. Otherwise, only the picker should be replaced..
Detection Scenarios
1. A specified move in the X-axis cannot complete.
2. A specified move in the Y-axis cannot complete.
3. A specified movement in the Θ-axis cannot complete.
Root Causes
1. 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 connection issues, etc.).
2. A relatively small number of hardware errors that do not result in
complete obstruction but where servo control does not appear to be
normal.
Possible CRU Replacements
v Tape Cartridge
v Library Control Blade
Possible FRU Replacements
v Robot Assembly
v Cable Spool
v Y Motor
v Y-axis Assembly
v Internal Cables and Boards Kit
Resolution Perform “DR005: Resolve Motion Failure” on page 6-62.
T007: X, Y, Θ Motion Obstruction, Motion OK
Description GUI Description: The robot is unable to properly move due to an obstruction
in its motion path.
Explanation: 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.
Chapter 6. Service Action Tickets (Txxx) and Diagnostic Resolutions (DRxxx) 6-5
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