T083: Unlevel Robot Assembly Not Level
Description GUI Description: The robot assembly does not seem to be horizontally level
and may be installed improperly.
Explanation: The firmware has detected a condition that indicates the robot
assembly (Y-carriage and picker) is not installed level within the system. The
robot assembly has drive gears that mate with rack gears inside the library
modules. There are field assembly problems and hardware failure problems
that can cause the robot assembly to be not level and therefore not function
properly.
Detection Scenario
1. The robot cannot move to its Y-axis parking position after homing in Y
because the front of the Y Carriage hits the floor. Parking position is
below homing position.
2. Front and back magazine fiducial positions on the left side are not at the
same Y level. This test algorithm can detect non-level conditions in both
directions (front high or back high).
Note: There are a few known false detection scenarios: Certain specific size
obstructions sitting on the floor of the library. Magazines not seated correctly.
Damaged fiducials that can be detected as mis-positioned because they are
damaged.
Root Causes
1. Robot drive gears not installed in Y racks at the same time. This can
result in the two ends of the Y Carriage being 1 to 2 teeth out of
synchronization.
2. Y racks not seated properly/evenly. Both the front and rear Y rack are
intended to be released from their shipping latches and lowered such that
the racks in the very bottom module rest on the floor of the unit.
3. There are hardware failure and assembly failure modes that can result in
the front and rear drive gears on the Y Carriage being excessively out of
phase with each other.
4. Robot Lock mechanism is out of position and interfering with the robot
Y-axis travel.
Possible FRU Replacements
v Y-axis Assembly
v Internal Cables and Boards Kit
Resolution
1. Perform “DR041: Resolve Robot Installation” on page 6-76. See also
“Removing the M2 Robot Assembly from the Library” on page 8-67 and
“Replacing the M2 Robot Assembly” on page 8-69.
2. This RAS ticket appears almost exclusively for a picker and Y-carriage
Assembly climber not being level. Clear the RAS ticket. Remove these
components from the unit and then re-seat them to ensure they are level.
3. Inspect the picker rails inside the unit and make sure they are level, flush
with the unit, and properly locked into place.
4. Ensure the entire library is level in the rack.
5. Only dispatch the above FRU after all efforts have been exhausted to get
the unit and picker/Y-carriage assembly level.
6-38 TS3310 Tape Library Maintenance Information
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