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Teaching 3490 Integrated Cartridge Loader Positions using a Tooling Cartridge in an Automated Tape Library

IP.com Disclosure Number: IPCOM000105031D
Original Publication Date: 1993-Jun-01
Included in the Prior Art Database: 2005-Mar-19
Document File: 4 page(s) / 85K

Publishing Venue

IBM

Related People

Abbott, P: AUTHOR [+4]

Abstract

The IBM 3495 Tape Library Dataserver (an automated tape library) uses a multiple axis robot mounted on a sled to handle cartridges. Grippers are mounted on the end of the robot arm to pick cartridges. At least one camera is mounted adjacent to the grippers at the end of the robot arm. The entire sled, robot, gripper and camera assembly is referred to as the "accessor".

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Teaching 3490 Integrated Cartridge Loader Positions using a Tooling Cartridge in an Automated Tape Library

      The IBM 3495 Tape Library Dataserver (an automated tape
library) uses a multiple axis robot mounted on a sled to handle
cartridges.  Grippers are mounted on the end of the robot arm to pick
cartridges.  At least one camera is mounted adjacent to the grippers
at the end of the robot arm.  The entire sled, robot, gripper and
camera assembly is referred to as the "accessor".

      IBM 3480 Cartridge System Tapes and IBM Enhanced Capacity
Cartridge System Tapes are stored in racks, and the accessor moves
tapes between the racks and IBM 3490 tape drives attached to the
library.

      The camera is attached to a vision system which digitizes the
camera image, and is programmed to analyze the digitized images.  The
camera is used to determine physical gripper positions in the library
by finding fiducial targets mounted in the library, a process
referred to as "teaching" the library.

      Physical positions of all the slots in a 3490 drive used in an
automated tape library needed to be accurately determined during this
teach process.  Each 3490 drive has an ICL (Integrated Cartridge
Loader) mechanism.  This mechanism consists of a series of guides
that locate the cartridges in the ICL.  One of the sets of guides is
aligned with the 3490 loader mechanism and is referred to as the feed
slot.

      Several input slots are located above the feed slot.  Several
output locations are located below the feed slot.  When cartridges
are placed into any of the slots, the desired position to place the
cartridge is in the middle of the slot to maximize clearances on all
sides.  The automated tape library must know the positions of the
centers of all the slots.

      An illustration of a 3490 ICL with cartridges located at their
nominal (centered) positions is sho...