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Robotics Interface Module
96154 • Revision K Chapter 1 Introduction 9
■ A Z-mechanism for vertical motion of the hand
■ A wrist-mechanism for lateral or horizontal motion
■ A bar-code scanner for both targeting and reading cartridge labels
■ A proximity sensor for detection of empty slots and unlabeled cartridges
■ A belt-driven gripper mechanism for gripping the sides of the cartridges
Important:
Because of the four individual rails, each robotic assembly is considered a library
storage module (LSM). So the architecture of the SL8500 provides four separate and
unique LSMs within a single library.
To optimize system performance, the HandBots automatically implement the Fast Load
capability. Once a HandBot successfully inserts a cartridge into a drive, it is
immediately available for the next request and does not wait until the drive reports that
the cartridge has been loaded. The SL8500 library control electronics waits to return the
response to the mount request until it detects that the tape drive has successfully
loaded the cartridge tape.
Two HandBots can service a single rail section within the library, providing
redundancy. Each HandBot has two motors, if one fails, the other motor is powerful
enough to move the defective HandBot into the forward service area. If both the motors
fail for a HandBot, then the redundant HandBot moves the defective HandBot into the
forward service area thus continuing HandBot operations.
One robotics interface module contains up to 800 cartridge storage slots.
FIGURE 1-3 HandBot (Detail)
1. Lower pulley
2. Pre-load assembly
3. Gripper
4. HBB card
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