T007:
X,
Y,
Θ
motion
obstruction,
motion
OK
Description
A
complete
physical
obstruction
exists
in
a
motion
path
that
precludes
repeated
attempts
to
move
beyond
a
certain
point
in
the
range
of
motion.
Servo
control
appears
normal
but
a
move
profile
cannot
be
completed.
Cartridge
may
have
been
returned
to
a
home
slot.
Detection
Scenarios
1.
A
specified
move
in
the
X-axis
cannot
complete
but
motion
control
appears
normal.
2.
A
specified
move
in
the
Y-axis
cannot
complete
but
motion
control
appears
normal.
3.
A
specified
move
in
the
Θ
-axis
cannot
complete
but
motion
control
appears
normal.
Root
Causes
1.
Operator
intervention
that
results
in
foreign
material
or
an
obstructing
object
in
a
library
motion
path.
2.
Picker
locking
mechanism
left
engaged
in
the
library
motion
path.
3.
Certain
damaged
hardware
conditions
that
obstruct
motion
at
a
particular
point
along
an
axis.
Possible
CRU
Replacements
v
Tape
Cartridge
v
Drive
Sled
Possible
FRU
Replacements
v
Picker
Assembly
v
Y-axis
Assembly
v
Enclosure
Resolution
v
Verify
that
no
obstructions
are
present
in
the
path
of
the
Picker.
v
Perform
v
If
the
problem
persists,
refer
to
for
additional
diagnostic
procedures.
T008:
Cannot
home,
motion
OK
Description
Robot
motion
and
servo
control
appear
normal
but
home
sensors
do
not
transition
when
the
robot
is
moved
through
prescribed
search
distances
and
times.
Detection
Scenarios
1.
X
home
sensor
does
not
transition
while
homing.
2.
Y
home
sensor
does
not
transition
while
homing.
3.
Θ
home
sensor
does
not
transition
while
homing.
4.
Z
home
sensor
does
not
transition
while
homing.
Root
Causes
1.
Malfunctioning
home
sensors.
2.
Missing
or
damaged
mechanical
flags
that
trigger
home
sensors.
3.
Hardware
failures
that
result
in
apparent
normal
motion
according
to
encoders,
but
no
actual
motion
(ex.
slipping
gears).
4.
Picker
path
obstruction.
Possible
CRU
Replacements
v
Library
Control
Blade
Chapter
10.
Service
Action
Tickets
(Txxx)
and
Diagnostic
Resolutions
(DRxxx)
10-7
Summary of Contents for System Storage TS3310
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