HP NonStop G-Series - Manual (Page 68)

Configuring and Testing the Tape Library
L700 (CTL700) Installation and User’s Guide — 527338-004
5- 12
Initialize and Calibrate Mechanisms
Initialize and Calibrate Mechanisms
Robotic mechanism parameters are loaded into processor memory and calibration
routines are executed. The initialization process requires a maximum of five minutes.
Monitored in this sequence are:
•
Reach save position. The reach mechanism fully retracts, and the reach save
sensor must be detected before any theta or Z motion is initiated. This prevents
possible damage to the hard assembly or to a tape cartridge.
•
Z motor calibration. The Z mechanism moves from the end-stop to end-stop. The
distance and time for this motion is compared against the mechanism parameters
within the firmware.
•
Theta motor calibration. The theta mechanism moves from theta-stop to theta-stop.
The distance and time for this motion is compared against the mechanism
parameters within the firmware. There are three capacity variations for the tape
library (1/3, 2/3, and full), and the tape library size is also determined during this
step.
Vision Calibration
After calibration of the robotic motors, the robot moves to the vision calibration decal
(below Drive Column 0 at Panel 0). Thresholds for the line scan camera are:
•
Target is the readability and accuracy of the target image for locating array
positions.
•
Bar Code is the readability and accuracy of bar code information.
During normal operation, the camera is turned off, and tape cartridges are located by
referencing the VOLSET and cell location within the MPC card memory.
Hand Assembly Testing
Calibration and testing of the hand assembly is accomplished near the vision
calibration decal. The proximity sensor is aimed at the decal and tested to be on. The
hand is then moved away from the decal, and the sensor is tested to be off.
The gripper mechanism is extended to test for proper opening and closing.
Audit
The next step for initialization is the audit of the tape library. The audit process requires
five minutes.
Note. The camera is operational during initialization, during audit, and when tape cartridges
are entered into a CAP.