7100ux Optical Jukebox Service Manual (AA969-90904, September 2004)

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Troubleshooting and Diagnostics

34 1000ux/1900ux/2300ux and 3800ux/7100ux Optical Jukebox Service Manual

Description of the robotic micro-moves

Table 7: Micro-move IDs and expanded descriptions

Micro-Move

ID (hex)

Description

1 Move picker transport up. Fast.

2 Move picker transport down. Fast.

3 Move picker transport up slowly, checking for resistance. Used in the vertical

find home sequence.

4 Move picker transport down slowly, checking for resistance. Used in the

vertical find home sequence.

5 Move a small amount upward to relieve tension in the servos. Used after

finding “home” in the vertical find home sequence.

6 Make a small vertical movement as a plunge is made into a drive. Used to

“wiggle” the picker during error recovery.

8 Move picker transport up to the top of the jukebox, checking for a clear path.

Used in the vertical find home sequence.

9 Move picker transport to the bottom of the jukebox, checking for a clear path.

Used in the vertical find home sequence.

11 Move slowly up far enough to establish that there is enough room to flip the

picker. Used in the plunge find home sequence.

12 Move slowly down far enough to establish that there is enough room to flip the

picker. Used in the plunge find home sequence.

13 Move slowly to the flip clear area (determined in micro-moves 11 and 12).

Used in the plunge find home sequence. Also used in power fail recovery to

move the picker off of a cartridge that was between the picker and the

magazines when the power failed and the picker settled.

14 Move slowly downward to the flip clear area (determined in micro-moves 11

and 12). Used in the plunge find home sequence.

15 Move vertically to restore the picker to the position it had before an error (and

error recovery, occurred. Only called in error recovery.

16 Move up. Used in the motor test during powerup.

17 Move down. Used in the motor test during powerup.

62 Move slowly to one side of the translate frame. Used to find translate home

during powerup. Movements after powerup use the translate home ID, 63.

63 Move to one side of the translate frame. Used to find translate home.

67 Move a short distance back from the plunge position where an overforce

shutdown error occurred. Relaxes the tension.

68 Retract the plunge assembly on the picker all the way back to find “home” in

the plunge axis. May start a flip, depending on starting position. (One of

three plunge find homes in the sequence; 68, 69, 6A).

69 Retract the plunge assembly on the picker all the way back and flip the picker

at the same time. Used to find “home” in the plunge axis. (One of three

plunge find homes in the sequence; 68, 69, 6A).

6A Retract the plunge assembly on the picker all the way back and then flip the

picker. Used to find “home” in the plunge axis. Second flip of the sequence.

(One of three plunge find homes in the sequence; 68, 69, 6A).

6B Plunge toward magazine to get cartridge.