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 (see
Figure 8-1 on page 8-6) .
3. Certain damaged hardware conditions that obstruct motion at a
particular point along an axis.
Possible CRU Replacements Tape Cartridge
Possible FRU Replacements
v Robot Assembly
v Y-carriage Assembly
Resolution
v Verify that no obstructions are present in the path of the Picker.
v Perform “DR028: Resolve Motion Obstruction” on page 6-71.
T008: Cannot Home, Motion OK
Description GUI Description: The robot can move but cannot establish its home position
correctly.
Explanation: 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 (see
Figure 3-11 on page 3-8).
3. Hardware failures that result in apparent normal motion according to
encoders, but no actual motion (ex. slipping gears).
4. Robot parking tab is interfering with Y-axis travel of the robot.
5. Robot assembly is not placed properly into Y-climber rails, resulting in an
unleveled robot when moving along the Y-rails.
6. Y-rails are not secured correctly, causing the robot Y-carriage to become
unleveled when moving between modules.
Possible CRU Replacements
v Library Control Blade
Possible FRU Replacements
v Picker Assembly
v Y Motor
v Y-axis Assembly
v Internal Cables and Boards Kit
Resolution
v Verify that no obstructions are present in the path of the Picker.
v Perform “DR028: Resolve Motion Obstruction” on page 6-71.
6-6 TS3310 Tape Library Maintenance Information
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