Quantum Scalar 218 Installationsanleitung

adic Service Procedure 63-1181-01 Rev A 1

Scalar 218 Theory of Operation

Overview

The adic Scalar 218 design allows speedy fault isolation to the Field Replaceable Unit (FRU) level. Each

FRU can be rapidly replaced resulting in very short down-times for the customer.

The Scalar 218 is best thought of as three separate units: the library robotics section and each of the two

drives. The host computer views each of these units as separate SCSI devices.

The Scalar 218 is composed of the following functional sections:

lController Section

lMedia Handling Mechanism

lDrive Assembly Section

lPower Supply Section

Below is a functional block diagram of the Scalar 218:

Functional Block Diagram

Scalar 218 Theory of Operation

adic Service Procedure 63-1181-01 Rev A 2

Functional Sections

Controller

The Controller can be logically divided into the SCSI-2 Interface and the Robotics Controller.

SCSI-2 Interface

The 218 connects to the host computer's SCSI channel through this interface. The SCSI channel is the

control, communications, and data bus through which commands, messages, and data are passed between

the Scalar, the drives, and the host computer. The SCSI-2 Interface passes commands to the Robotics

Controllerfrom the applications software.

Robotics Controller

The multi-microprocessor-based Robotics Controllerreceives SCSI commands from the host computer

via the SCSI-2 Interface. The operational firmware for the Master (Main) Processor and Slave (Motion)

Processor are stored in Flash EEPROM (firmware) mounted on the main controller board. Non-volatile

RAM (NVRAM) is used to store 218 configuration information and operational logs. The Robotics

Controllercontrols the Media Handling Mechanism, monitors and controls the drives, and the

Operator Panel.

Embedded Control Firmware

The embedded control firmware for the 218 is divided among four processors, the Main Processor, Motion

Processor, Picker Processor, and the Micro-Stepping Motor Control (Micro-Stepper) Processor.

Main Processor

The Main Processor’s internal EPROM (Boot ROM) code provides elemental SCSI interface

intelligence, serial port control, and inter-processor communication. While executing the Boot Code, the

Main Processor checks to see if the Flash Memory contains valid operating code (operational firmware).

If the operational firmware is valid, the Main Processor signals to the Motion Processor to notify the

keyboard and then proceeds to download code from the Flash Memory to the Motion Processor’s

RAM. When completed, the Main Processor signals the Motion Processor to switch to RAM-based

code and then switches its addressing so that it begins operating out of the Flash Memory instead of it’s

internal Boot ROM.

If valid operational firmware is not found in the Flash Memory, the Main Processor continues to execute

the Boot Code, monitoring the SCSI chip for a valid request to download code to the Flash Memory.

Once executing the operational firmware in Flash Memory, the Main Processorperforms the following

functions:

lProvides complete SCSI interface protocol.

Scalar 218 Theory of Operation

adic Service Procedure 63-1181-01 Rev A 3

lProvides a monitor function, mirroring SCSI commands and inter-processor commands via serial

port Comm 1.

lMaintains the operational logs stored in the NVRAM.

lCommunicates commands and receives status from the Motion Processor via the inter-

processor serial communication port.

Motion Processor

The Motion Processor contains code in it’s internal EPROM (Boot Code) which has elemental inter-

processor communication, diagnostic LED control, and keypad I/O capability. During the boot process,

the Motion Processor communicates with the keyboard as dictated by the Main Processor. When

commanded by the Main Processor, the Motion Processorswitches to operating code in it’s RAM

memory (see Main Processor description on previous page).

Once executing the code in its RAM memory, the Motion Processor performs the following functions:

lInitializes all ports and registers.

lMaintains position tables for the X-axis coordinates of the Media Pickerassembly and relates

them to element addresses as assigned in the SCSI interface specification.

lMonitors position by maintaining X-axis coordinate counts from the X-axis encoder interrupts.

lCalculates position offsets for motion commands received from the Main Processor and

communicates them to the Micro-Stepper Processor.

lWrites a binary pattern to the Diagnostic LED’s (located on the Main Controller board) associated

with currently active firmware processes.

lWrites data to the keyboard, and LED’s. Reads switch information after an interrupt, reads door

open sensors and cartridge present sensors on a polled basis.

lControls and monitors the Picker Processor via one of the two serial ports.

lControls the Drive Mux Bus. Selects the appropriate drive assembly, monitors the assembly’s

serial stream information via the assembly’s serial multiplexer board, monitors the drive door

switch status via the Drive Mux Bus, and controls the Door Open Stepper Motor via the Drive

Mux Bus.

Picker Processor

The Picker Processor, mounted inside the Media Picker, interfaces to the Motion Processor via a

balanced differential serial port. The PickerProcessor controls the following picker functions:

lMonitors Media PickerEntry/Exit Port cartridge sensors.

lMonitors and keeps track of the Gripper Carriage position via the three carriage optical sensors.

lControls the enable and direction of the gripper motor. Monitors the gripper limit signal which

indicates that the jaws have stalled or reached a limit.

lControls the enable, direction, and break of the roller motor.

lControls the enable, direction, and break of the carriage motor.

lControls the trigger on the Barcode reader and monitors the serial Barcode reader data.

Scalar 218 Theory of Operation

adic Service Procedure 63-1181-01 Rev A 4

Micro-Stepper Processor

The Micro-Stepper Processor takes high level movement commands and breaks them down into finite

steps of the X Stepper Motor. The four finite motor steps, are displayed on the four diagnostic LED’s.

The four digital steps are broken down further into 16 sub-steps. These sub-steps are of variable

amplitudes such that the resultant waveform of a full step approximates a sine wave. The Micro-

Stepper Processor controls the following:

lQuad output D to A converter.

lFour diagnostic LED’s.

lData input and output registers.

Door Open Stepper Motors

Each drive assembly employs a door over the drive cartridge opening. This door must be physically opened

or closed to load or unload a cartridge. Damage to the drive and/or media will occur if the door is opened

or closed while the drive is still loaded (the tape is still wound through the read/write head mechanism). To

prevent damage to the drive and media, the drive illuminates an Operate Handle LED on its front panel to

indicate when it is unloaded (the tape is fully rewound into the cartridge). When the Operate Handle LED

is illuminated the drive assembly outputs an “OK to Open Door” status message via its serial port.

To automate the insertion and removal of cartridges the 218 employs a Door Open Stepper Motor that

rotates the door’s hinge shaft, thus opening or closing the door. This Door Open Stepper Motor is

mounted on the drive assembly’s drive mounting plate directly above the drive. The Controller Section

monitors each of the drive assembly’s serial port, via the Drive Mux Bus, and opens or closes the door

when the “OK to Open Door” status message appears.

Scalar 218 Theory of Operation

adic Service Procedure 63-1181-01 Rev A 5

Media Handling Mechanism

This section controls all movement of media within the 218. It is used to pick and place media between the

DLT drives and the 18 cartridge locations. The Media Handling Mechanismcomponents include the

Media Picker, X Stepper Motor, X carriage, carriage rails, and associated drive belts and sensors.

Media Picker

Entry/Exit Port

The pass-through Entry/Exit Port allows the Media Pickerto pick or place data cartridges from/to the

storage slots and drives without needing an additional media handling mechanism or having to rotate a

cartridge. Cartridge Sensors are mounted in both openings of the Entry/Exit Port. These sensors

monitor the position of the data cartridge. If the cartridge is not fully positioned in the Cartridge Gripper

Assembly, the Picker Processor informs the Main Processor via the Motion Processor. The

Motion Processor will prevent all movement of the Media Pickeruntil the incorrectly positioned

cartridge is cleared.

Cartridge Gripper Assembly

The cartridge gripper assembly is an integral part of the Media Picker. The gripper is engaged by a DC

motor (Gripper Motor) which is controlled by the robotics firmware. The Gripper Motor servo control

senses torque, when a preset torque level is reached, the gripper stops.

Picker-Home Sensors

The Picker Home Sensors tells the robotics controller when the Media Pickeris positioned at the

exact home position. To have a starting reference position the Media Pickermust start after a reset from

the Picker-Home position (at the left side of the carriage rails). This position is determined by the Picker-

Home Sensor, which report its status to the robotics controller. It is the only time that the controller has

an indication of the physical position of the Media Picker. All other positions are referenced from this

point.

Barcode Reader

The Barcode Readeris used to scan barcode labels on the data cartridges located in the storage slots.

This information is passed to the application software via the SCSI bus, which stores it in its cartridge

inventory log. The barcode codes supported by the Scalar 218 are: Code 3 of 9 and Code 128.

The Barcode Readeruses a Charge Coupled Device (CCD) sensor and a Light Emitting Diode (LED)

light source. The depth of field ranges from approximately 2 inches up to 20 inches (barcode size

dependent). The red light from the LED appears as a red stripe on the barcode. The scanner is positioned

so that the light is reflected back to the CCD for reading. The Barcode Readerreceives its trigger from

the Picker Processor, and outputs the scanned barcode data over the serial bus.

Scalar 218 Theory of Operation

adic Service Procedure 63-1181-01 Rev A 6

Operator Panel

The Operator Panelincludes an eight-key keypad and a 4-line by 20-character scrollable LCD display.

The keypad and display provide a means for the operator to change operating parameters of the 218, such

as the SCSI ID of the robotics. Additionally, an Off-Line Diagnostics Menu is available via the Operator

Panel, through which a qualified technician can examine error, event, and operation logs, perform manual

pick and place operations, and calibrate the location of the Media Picker. The Operator Panel

interfaces to the Controller PCB.

Cartridge Sensors

Mounted beneath each of the 18 cartridge storage slots, the Cartridge Sensors monitor cartridge

presence. The contents of the 218 (inventory) can quickly be determined by polling these sensors.

Door Open Sensor

The sliding access door open sensor alerts the Motion Processor of the door's position (opened or

closed). If the door is opened during On-Line Mode operation, a SCSI UNIT ATTENTION message is

sent to the host. It is up to the software application running on the host to handle this condition with the

proper routine. If the door is opened while the 218 is performing a pick and place operation, the Motion

Processor automatically causes all Media Picker motion to stop.

Drive Assembly Section

One or two drive assemblies may be mounted in the Drive Assembly Section. The drive assemblies

respond to operating commands, and communicate directly with the host computer’s SCSI channel. Each

drive assembly receives operating voltages from the Power Supply Section of the 218. The only other

interface between an assembly and the 218 is the drive assembly multiplexer (Mux) card. The 218

monitors the drive assembly status through the Drive Mux Bus (see Door Open Stepper Motors).

Power Supply Section

The Power Supply Section contains 2 separate power supplies.

80 watt Switching Supply

The 80 watt switching supply is mounted in the Power Supply Section. It provides the operating voltages

for DLT drives 1 and 2.

50 watt Switching Supply

The 50 watt switching supply, mounted in the Power Supply Section, provides operating voltages to the

remainder of the 218.

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