barcode labeled cartridges. The SMD1 board is a logical device that communicates
with the LCB1 in moving media within the library. The SMD2 board is an
interconnect device between the SMD1 board and the barcode scanner and sensors.
This topic further describes these SMD boards.
The SMD1 board controls and drives the 4 motors of the library robotics:
vvX motor - controls horizontal motion
vvY motor - controls vertical motion
vvTheta motor - pivots the picker assembly for media selection
vvReach motor - extends and contracts the picker arm assembly in moving media
into and out of a slot or drive
Note: Although the X, Y, and Theta (pivot) motors can move concurrently, the
reach motor cannot operate while other motors operate.
The picker assembly contains the X, Theta, and Reach motors. Also, the picker
assembly contains the SMD1 and SMD2 boards as well as the barcode scanner and
target sensors.
The motion processor chip is the ”heart” of the SMD1 board, performing these
functions:
vvThis chip supports the 4 servo motion axes using AC brushless motors, which
extend the library's life over motors with brushes.
vvIt controls the motion velocity and acceleration and calculates the trajectory for
moving media.
vvA barcode scanner connected to SMD1 via the SMD2 interconnect card allows
reading cartridge barcodes and specifies the EM type barcode (5U or 9U). The
SMD1 controls the barcode scanner and receives barcode label data.
vvIt triggers the Y motor to move the robot in order to locate a desired barcode
on a cartridge. The robot will move to the bottom of a column and cartridges
will be scanned as the Y axis motor moves the robot up the column.
vvIt finds a home signal input for each motor, registering a motor's home location
in the library. During teach operations the teach sensor on the robot is used for
position detection. The LCB1 will monitor the teach sensor state using CAN to
read the detected position.
The SMD2 board interconnects with the SMD1 board and the robotics assembly in
selecting and moving media. The SMD2 performs these functions:
vvInterfaces between the picker and the barcode scanner carrying transmit and
receive signals.
vvProvides connectivity for Teach, Reach Home, and Cartridge Present signals
from sensors.
vvDistributes power from the SMD1 board to the picker's sensors and the
barcode scanner.
Door & Import/Export Board (DIEB)
The Door & Import/Export Board (DIEB) is only found in the control module. The
DIEB performs these functions:
vvControls the local (operator panel) interface.
vvInterfaces the LCB1 with the LCD touch-screen interface.
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