Qualstar XLS Series, Technical & Service Manual

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2.2 Library Resource Module (LRM)
2-12
501610 Rev. 07-01-19
carousel of an attached MEM. The handler is controlled by the medium changer interface
and shared by all host software applications on a first-come, first-served basis.
Figure 2-11 Robotic handler (shown reaching into an attached MEM)
Gripper Assembly
The gripper assembly is the part of the handler that actually picks and places the
cartridges in the storage slots and tape drives. The gripper moves along four axes, as
follows:
•
The X-axis is the horizontal axis. The gripper assembly is moved along the
X-beam by a toothed belt, which is driven by the X-axis motor. The X-motor is
controlled by the X-Y controller DCB.
•
The Y-axis is the vertical axis. The X-beam rides up and down the Y-axis on a
round guide shaft. It is moved by a toothed belt, which is driven by the Y-axis
motor. The Y-motor is also controlled by the X-Y controller DCB.
•
The Theta-axis is the rotating axis that allows the gripper assembly to reach
cartridge slots on the front, back, and sides of the cabinet. It is controlled using a
belt and pulleys by the Theta-axis motor. The Theta-motor is controlled by the
Theta-Z controller DCB.
•
The Z-axis is the in-and-out axis. The fingers on the gripper assembly are opened
and closed using a solenoid and moved in and out by the Z-axis motor. The
solenoid and Z-motor are controlled by the Theta-Z controller DCB. The gripper
assembly uses a Hall effect sensor to determine if the fingers are open or closed,
and it has two pairs of optical emitters and receivers where it grips the cartridge.
These sensors are managed by a digital signal processor on the Theta-Z controller
card.