Asset ID:	1-75-1382859.1
Update Date:	2011-12-16
Keywords:

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Solution Type  Troubleshooting Sure

Solution  1382859.1 :   SL8500/SL3000 - How to Troubleshoot "servo mech grip" Events  

In this Document
  Purpose
  Last Review Date
  Instructions for the Reader
  Troubleshooting Details

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Applies to:

Sun StorageTek SL8500 Modular Library System - Version: Not Applicable to Not Applicable - Release: N/A to N/A
Sun StorageTek SL3000 Modular Library System - Version: Not Applicable to Not Applicable   [Release: N/A to N/A]
Information in this document applies to any platform.

Purpose

The gripper is the portion of the robot's hand assembly that grasps and holds the cartridge during put and
fetch operations.  A reach mechanism or motor is responsible for extending or retracting the gripper when
putting or fetching a cartridge at a designated location.

Various sensors guide the gripper during its operation:
   - reach safe sensor
   - cartridge present sensor
 
Most servo mechanical grip errors are caused by problems with the reach mechanism or the voltage
fluctuations affecting the hand assembly.   Here are some of the more common library Result codes affecting
the gripper:
-- Error 5011 means "A tachometer phase error was detected"
-- Error 5069 means "The max or min current was requested an excessive amount of times during a stall
                      move with a minimum position not reach"
-- Error 5065 means "A motor hall error was detected"

 

Last Review Date

December 2, 2011

Instructions for the Reader

Troubleshooting Details

1.  If there is also a "servo mech reach" error and any of the following error messages are in the EWI log
     for the same robot, replace the robot:
     --  Error from device Code: 512 - Robot can not go operational, DIRECTOR End of Rail Init: Init of
         grip or reach failed, cannot init
     -- Error from device Code: 503 - Robot needs to be inoperative, cmo_user_fetch (or, _put) ...


2.  If there is also a "servo mech reach" error and there is an indication of a full destination slot or an
|    obstruction along the path of the robot or the range of the hand's reach,  Evaluate the location of the
     obstruction so that it can be checked.   See examples of relevant error messages below:
     -- Error from device Code: 510 - Robot says location full/obstructed, cmo_user_put: Retry
        Performed 5611; 69 Missed Service Intervals occurred during reach Move; servo mech reach
        event 5032  address = Drive_Bay13(1,1,4,1,4)
    -- Error from device Code: 510 - Robot says location full/obstructed, servo mech reach event 5010
        address = Cap(1,1,5,2,9)
    -- Error from device Code: 510 - Robot says location full/obstructed, servo mech reach event 5010
        address = Cell(2,2,-9,2,5)
  
    Have the field engineer investigate the source of the obstruction or if there is a cartridge sticking out from a
    slot. Verify if there is a tape stuck in the hand.  Resolve the issue and reboot the robot.

    If the robot fails to complete initialization, replace the robot.


3. If there are no other error messages concerning the reach, the wrist, the track, or the Z assembly,
    run diagnostic tests on the robot.   If the robot fails the diagnostic tests, replace the robot.

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