Detection Scenario The robotics firmware auto-level process was unable to update one of the
Robot Controller Board's flash parts.
Root Causes One of the Robot Controller Board's flash partitions is bad.
Possible FRUs Robot Assembly
Resolution Perform “DR086: Resolve Robotics Degraded Flash Warning” on page 6-86.
T120: Robotics Y-Axis Motion Failure, Tape in Picker
Description GUI Description: A Y-axis motion error occurred while the robot was moving
a tape cartridge.
Explanation: A y-axis motion error that cannot be considered a complete
obstruction has been reported by robotics. Because a tape is in the picker,
tape recovery must be a part of the resolution strategy. This ticket only
occurs during a robotics move, not during a robotics get or put.
Detection Scenario
1. A specified move in the y-axis cannot complete.
2. Robotics firmware reports a y-axis error condition.
Root Causes
1. A physical obstruction in the path of the robot's motion. Examples
include tape cartridges that are extending from the picker assembly or
from a storage location, as well as tape cartridges or debris that may
have collected on the floor of the library.
2. A large number of electrical hardware failures. Firmware or hardware
detects that motion control is not occurring properly (encoder issues,
motor driving circuits, motor winding issues, etc.)
3. A relatively small number of mechanical hardware failures that do not
result in the detection of a complete obstruction, but where motion
control generates robotics firmware error codes (contamination or damage
to encoder wheel, high friction, etc.).
Possible FRUs
v Y-carriage Assembly (if Model 1 robot is installed) or Robot Assembly (if
Model 2 robot is installed)
v Cable Spool
Resolution Perform “DR088: Resolve Robotics Y-Axis Motion Failure” on page 6-87.
T121: Robotics Y-Axis Motion Failure, No Tape in Picker
Description GUI Description: A Y-axis motion error occurred, which does not seem to be
the result of robotic obstruction.
Explanation: A y-axis motion error that cannot be considered a complete
obstruction has been reported by robotics. Because a tape is not in the picker,
tape recovery is not necessary as part of the resolution strategy. This ticket
only occurs during a robotics move, not during a robotics get or put.
Detection Scenario
1. A specified move in the y-axis cannot complete.
2. Robotics firmware reports a y-axis error condition.
Chapter 6. Service Action Tickets (Txxx) and Diagnostic Resolutions (DRxxx) 6-49
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