Qualstar XLS Series User manual

‘
Installation Manual
Document No. 501601 Rev. 07-01-19
XLS Series of Tape Libraries

II
501601 Rev. 07-01-19
Copyright© 2006-2010 by Qualstar Corporation — All Rights Reserv ed
Information contained in this document is copyrighted by Qualstar Corporation. It is
intended for use by Qualstar's customers and prospective customers to evaluate,
integrate, operate, and maintain Qualstar products. Customers and prospective
customers may reproduce this document as needed for these uses. Reproduction in whole
or in part for any other use or by any other party is prohibited without prior written
permission from Qualstar Corporation.
Disclaimer
Every effort has been made to keep the information contained in this document current
and accurate as of the date of publication or revision. However, no guarantee is given or
implied that the document is error-free or that it is accurate with regard to any
specification.
Qualstar reserves the right to modify the design or specification without notice. This
specification may not be construed as a contractual obligation except as specifically
agreed to by Qualstar in writing at the time of order.
Trademark Notices
Qualstar and the Qualstar logo are registered trademarks and X-Link is a trademark of
Qualstar Corporation. Other trademarks are the property of their respective owners.
Revision History
Revision
Release Date
Description
A
17-Mar-2006
Initial rele ase
B
29-Jun-2006
All chapters revised. Includes instructions for the XLS -820500.
C
15-Nov-2006
All chapters revised and reorganized. Includes instructions for the
X L S -812300.
D
31-May-2007
All chapters revised. Includes instructions for the equipment rack.
E
08-Jan-2010
All chapters revised. Includes instructions for the XLS-85000 and
X L S -8161100.
07-01-19 01-Jul-2019 Address updated

XLS Library Installation Manual
III
Notices
Qualstar products are covered by one or more of the following patents: 6,271,982;
6,560,061; and 7,181,313. Other patents pending.
Qualstar equipment is manufactured from new parts, or new and used parts. In some
cases, Qualstar equipment may not be new and may have been previously installed.
Regardless, Qualstar’s warranty terms apply unless the equipment is specifically
identified by Qualstar as “used” or “refurbished.”
This equipment has been tested and found to comply with the limits for a Class A digital
device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide
reasonable protection against harmful interference when the equipment is operated in a
commercial environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the instruction
manual, may cause harmful interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful interference in which case the
user will be required to correct the interference at his own expense. Shielded cables are
required for this device to comply with FCC Rules. Use shielded cables when connecting
this device to others.
European Union Directive 89/336/EEC and Standard EN55022
(Electromagnetic Compatibility)
This product has been tested and is certified to be compliant with the Class A provisions
of the U.S., Canadian, and European standards for electromagnetic compatibility (EMC).
European Directive on Waste Electrical and Electronic Equipment (WEEE)
Qualstar encourages its customers to use current recycling practices in order
to reduce the burden that waste electronic products place on the environment.
If you are retiring a fully functional tape library, you are encouraged to
transfer the functional unit to a new user, thereby extending the useful life of
the tape library. The manufacture of all products requires the consumption of energy. By
extending the life of the tape library, energy is conserved.
In accordance with environmental directives that are being implemented in many
countries (refer to the European Directive on Waste Electrical and Electronic Equipment -
WEEE), Qualstar provides customers with “End of Life Instructions” that identify the
process for recycling the materials and components that make up a Qualstar tape library.
End of Life Inst ructions
Tools required
•#1 and #2 Phillips screwdrivers
•T20 Torx head screwdriver
•Hex head (Allen) wrench/driver set
•1/4-inch hex nut driver

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501601 Rev. 07-01-19
Disassembly procedure
1. Remove the door(s).
2. Remove the front panel.
3. Remove the external side panels.
4. Remove the internal subassemblies.
Items recyclable using conventional methods
•Aluminum: Front panel, exterior side and rear panels, robotics, cartridge and drive bays,
carousel and shroud panels
•Stainless steel: Robot guides
•Steel: Frames, fasteners
•Plastic: Windows, cartridge magazines, tape cassettes
•Copper: Internal wiring, motors, SCSI cables
•Paper: Manuals
Items requiring special disposal due to lead-based solder
•Printed circuit boards: Controller card, miscellaneous small printed circuit boards
Items that may have salvage or resale value
•Tape drives
•EMI line power filter
Reduction of Hazardous Substances (RoHS)
Qualstar is committed to the implementation of RoHS (Restriction of the use of certain
hazardous substances in electrical and electronic equipment) in accordance with the
European Directive. The compliance date is July 1, 2006, at which time Qualstar will
certify that its tape library products are compliant with the RoHS standard.
Qualstar tape libraries are classified as “Information Technology Storage Array Systems”
for which the RoHS Directive provides an exemption for lead solder until the year 2010.
Until Qualstar replaces lead-based solder with lead-free solder, affected subassemblies
must be disposed of appropriately.
Technical Suppo rt
The best source for service-related information is your system reseller. Alternately, you
can reach the Qualstar Technical Support Department at:
Qualstar Corporation
1267 Flynn Road
Camarillo, CA 93012
Monday - Friday 7:00 AM.to4:00 PM P S T
Phone:[phone]
Toll Free:(8 77) 886-2758
After Hours
Phone:[phone]
option 4
E-mail: support@ q ualsta r. com
E -mail: sale s@qu alstar .com
www .qualstar.com

XLS Library Installation Manual
V
Table of Contents
1 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 Aboutthe XLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Library Resource Module (LRM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.3 Media Expansion Module (MEMs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
1.4 How This Manual Is Organized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
1.5 Conventions Used in This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23
1.6 For MoreInformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
2 Preparing for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1 Installation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Installation Check List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
3 Unpacking the XLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Inspecting the Shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Unpacking the XLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.3 Removing the Shipment Locks on the Handler. . . . . . . . . . . . . . . . . . . . . . . 3-14
3.4 Unpacking the Equipment Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
4 I nstalling the LRM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Removing the Shipment Locks on the Handler. . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 E x t ending the Leveling Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
5 I nstalling a MEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Preparing the LRM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Removing the X-Axis Hard Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3 Releasing the Carousel Locks in a XLS-89000 MEM. . . . . . . . . . . . . . . . . . . . 5-5
5.4 Releasing the Carousel Locks in a XLS-85000 MEM. . . . . . . . . . . . . . . . . . . . 5-7

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Table of C ontent s
5.5 Connecting the CarouselController Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.6 Attaching the LRM to theMEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.7 Lowering the Leveling Feet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.8 Lowering the XLS-89000 Carousel Sup p orts . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.9 Installing the Side Panel on the MEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
6 I nstalling an Expansion Pod . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Removing the Side Panels from the XLS-812300 . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2 Installing the Expansion Pod Mounting Hardware. . . . . . . . . . . . . . . . . . . . . . 6-5
6.3 Removing the X-Axis Hard Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.4 Attaching the Expansion Pod to the XLS-812300 . . . . . . . . . . . . . . . . . . . . . 6-10
6.5 Reinstalling the Rear Side Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
7 I nstalling an Equipment Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Installing the 8U Rack Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Installing the Rack into the XLS-832700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3 Installing a Rack into the XLS-820500 or XLS-812300 . . . . . . . . . . . . . . . . . . 7-9
7.4 The Power Strip and Rack Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.5 A cces s ing Rack Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
8 I nstalling the Tape Drive Assemblies . . . . . . . . . . . . . . . . . . . . . 8-1
8.1 Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2 Installing Tape Drive andDrive Filler Assemblies . . . . . . . . . . . . . . . . . . . . . 8-12
9 Connecting the XLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1 Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 Connecting the Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
10 Applying Power and Logging Into X-Link . . . . . . . . . . . . . . . . 10-1
10.1 Preparing to Power on the Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2 Connecting the Library to Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.3 Logging Into X-Link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
11 Configuring the Physical Library. . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1 Connecting the XLS to aComputer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

XLS Library Installation Manual
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Table of C o nt ent s
11.2 Aligning the Gripperwith Any MEMs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.3 Calibrating an Expansion Pod Equipped Library . . . . . . . . . . . . . . . . . . . . . . 11-9
11.4 Verifying the Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11.5 Entering Configuration Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-25
11.6 Defining Other Library Setting s and Policies . . . . . . . . . . . . . . . . . . . . . . . . 11-36
12 Setting Up Logical Libraries . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.1 About Physical and Logical Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
12.2 Creating aNew Logical Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
12.3 Viewing the Inventory Report. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
13 Loading Cartridges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.1 Installing Cartridges in the Reserved Slots . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
13.2 Precautions for Handling Cartridges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-3
13.3 Preparing Cartridges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4
13.4 Installing Cartridges in Cartridge Slots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
14 Scanning the Fiducials and Inventory . . . . . . . . . . . . . . . . . . . 14-1
14.1 Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
14.2 Scanning and Calibrating the Fiducials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-2
14.3 Scanning the Inventory and Locking the Doors. . . . . . . . . . . . . . . . . . . . . . . 14-6
15 Testing the Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1
15.1 Putting the XLS in Logical Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1
15.2 Bringing a Logical Library Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-2
15.3 Starting the Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-3
15.4 Troubleshooting Installation Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-4
15.5 Downloading the Library Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-5
Appendix A Library Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1 Addresses for the XLS-8161100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.2 Addresses for the XLS-832700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A.3 Addresses for the XLS-820500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
A.4 Addresses for the XLS-812300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12
A.5 Addresses for Doors, I/O Ports, and Fixed Port Slots . . . . . . . . . . . . . . . . . . . A-16

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Table of C ontent s
A.6 Addresses for the Media Expansion Mod u le s (MEMs) . . . . . . . . . . . . . . . . . . A-18
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . GL-1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IN-1

XLS Library Installation Manual
1-1
1 About This Manual
This manual is intended for anyone installing the Qualstar® XLS Library. It provides
instructions for completing XLS installation and configuration.
Important: Although Qualstar has made every effort to ensure the
accuracy of the information contained in this manual,
no guarantee is expressed or implied that the manual is
error free. Qualstar reserves the right to make changes
at any time without prior notification.
1.1 About the XLS
The Qualstar XLS Enterprise Tape Library contains large-capacity tape drives, a variable
number of cartridge storage slots, a high-speed robotic mechanism for moving cartridges
between the tape drives and the storage slots, and I/O ports for importing and exporting
cartridges from the library. Four XLS models are currently available—the XLS-8161100,
XLS-832700, the XLS-820500, and the XLS-812300.
Shown in Figure 1-1 on page 1-2, the library uses two building blocks:
• The Library Resource Module (LRM), described in Section 1.2 on page 1-7, is
the fully featured base cabinet containing the power system; the robotic handler;
the control electronics; and the tape drives, I/O ports, and cartridge slots.
• The optional Media Expansion Modules (MEMs), described in Section 1.3 on
page 1-20, are rotary tape carousels that attaches to either side of an LRM.

1-2
501601 Rev. 07-01-19
1.1 Aboutthe X L S
• The XLS-89000 (also referred to as a MEM1) holds an additional 1,075
cartridges, while the XLS-85000 (also referred to as a MEM2) contains 535
cartridges.
Figure 1-1 LRM with two MEM1s (XLS-832700 shown with two XLS8900’s)

XLS Library Installation Manual
1-3
1 About This Manual
1.1.1
X LS -8161100
Shown in Figure 1-2, the XLS-8161100 accommodates up to 16 tape drives, up to 1,066
cartridges, and up to four, 10-slot I/O ports. As an option, one or two Media Expansion
Modules (MEMs) can be installed on the sides of the XLS-8161100. See Section 1.3 on
page 1-20 for more information.
Doors (2)
Carousels (2)
Touch screen
Status LEDs
I/O ports
(upto 4)
Handler &
barcode reader
Cartridge slots
Tapedrives
Service port
(Ethernet)
Leveling feet(4)
Air filters
(behind cover)
Wheels (4)
Figure 1-2 Front view of the XLS -8161100

1.1 Aboutthe X L S
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501601 Rev. 07-01-19
1.1.2 X LS -832700
Shown in Figure 1-3, the XLS-832700 accommodates up to 32 tape drives, up to 655
cartridges, and up to four, 10-slot I/O ports. As an option, one or two Media Expansion
Modules (MEMs) can be installed on the sides of the XLS-832700. See Section 1.3 on
page 1-20 for more information.
Doors (2)
Cartridge slots Touch screen
Status LEDs
I/O ports
(up to 4) Handler &
barcode reader
Tape drives
Service port
(Ethernet)
Leveling feet (4)
Air filters
(behind cover)
Wheels (4)
Figure 1-3 Front view of the XLS -832700

1 About This Manual
XLS Library Installation Manual
1-5
1.1.3 X LS -820500
Shown in Figure 1-4, the XLS-820500 accommodates up to 20 tape drives, up to 465
cartridges, and up to four, 10-slot I/O ports. As an option, one or two Media Expansion
Modules (MEMs) can be installed on the sides of the XLS-820500. See Section 1.3 on
page 1-20 for more information.
Cartridge slots
Touch screen
Status LEDs
I/O ports
(up to 4)
Door (1)
Handler &
barcode reader
Tape drives
Air filters
(behind cover)
Leveling feet (4) Wheels (4)
Figure 1-4 Front view of the XLS -820500

1.1 Aboutthe X L S
1-6
501601 Rev. 07-01-19
1.1.4 X LS -812300
Shown in Figure 1-5, the XLS-812300 accommodates up to 12 tape drives, up to 295
cartridges, and up to two, 10-slot I/O ports. As an option, expansion pods can be installed
on either side of the library, with each expansion pod adding 120 cartridge slots.
Cartridge slots
Touch screen
Status LEDs
I/O ports
(1 or 2)
Door (1)
Optional expansion pod
(1 or 2)
Tape drives
Leveling
feet (4)
Air filters
(behind cover)
Wheels (4)
Figure 1-5 Front view of the XLS-812300 with two optional expansion pods

1 About This Manual
XLS Library Installation Manual
1-7
1.2 Library Resource Module (LRM)
Figure 1-6 shows the inside of the LRM, while Figure 1-7 on page 1-8 shows the back of
the LRM. The LRM contains the following components and features:
• Power/PC bay, which includes the power system and the system controller (see
Section 1.2.1 on page 1-8)
• Touch screen and LEDs (see Section 1.2.2 on page 1-10)
• Robotic handler and barcode reader (see Section 1.2.3 on page 1-12)
• Tape drives (see Section 1.2.4 on page 1-14)
• I/O ports (see Section 1.2.5 on page 1-15)
• Cartridge slots (see Section 1.2.6 on page 1-17)
• Doors and light curtain sensors (see Section 1.2.7 on page 1-18)
• Optional equipment rack (see Section 1.2.8 on page 1-19)
Door slots
(110 slots/door)
Rear wall slots
Drive bay
(4 drives/bay)
Cartridge bays
(30 slots/bay)
I/O port
(10 slots/port)
Handler
Figure 1-6 Inside viewof the LRM (XLS-832700 shown)

1.2 Library Resource Module (LRM)
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Equipment rack
(optional)
Drive bay
Cartridge bays
Power/PC bay
Figure 1-7 Rear view of the LRM (XLS-832700 shown)
1.2.1 Power/PC Bay
Figure 1-7 shows the location of the power/PC bay at the rear of the LRM. The power/PC
bay houses the power components and the system controller. The entire bay slides in and
out of the LRM for servicing.

1 About This Manual
XLS Library Installation Manual
1-9
Power System
Figure 1-8 shows the power components accessible from the rear of the LRM. An optional
redundant power input module is also avaivable.
Cosmetic cover
removed
Power switch/
breaker
Power
connector
Power supplies
(up to 7) Battery module
Figure 1-8 Power bay c o mp on e n t s
System Controller
Shown in Figure 1-9 on page 1-10, the system controller occupies the right side of the
power/PC bay and consists of a Linux-based computer that controls the library. The
system controller:
• Controls the operation of the distributed control boards (DCBs)
• Manages all communications between the XLS and the host applications
• Maintains an up-to-date cartridge inventory
• Hosts the X-Link management interface
• Provides a control interface to the tape drives for configuration and servicing

1.2 Library Resource Module (LRM)
1-10
501601 Rev. 07-01-19
Cooling fans
CAN bus
controller
Host Bus Adapter
cards
Hard drive
HBA connectors EMI shield Serial & Ethernet
connectors
Figure 1-9 System controller components in the power/PC bay
1.2.2 Touch Screen and LEDs
Shown in Figure 1-10, each LRM includes a touch screen, used to display the X-Link
Management Interface, and five LEDs.
Figure 1-10 Touch screen and statu s LEDs (X-Link log-in s creen displayed)

1 About This Manual
XLS Library Installation Manual
1-11
Touch Screen
The 15-inch LCD touch screen on the front of the LRM allows for local control and
monitoring of library operations. The touch screen receives power from the PC power
supply in the system controller and communicates with the system controller using a USB
interface.
X-Link Management Interface
The X-Link management interface can be accessed locally from the touch screen or
remotely over Ethernet using a standard Internet browser. The interface and available
functions are the same regardless of how they are accessed. The X-Link Home page,
shown in Figure 1-11, provides information about library status and provides an access
point to library management tasks.
Figure 1-11 X-link Home page (Logical Libraries View selecte d )
LEDs
The LEDs on the front panel indicate the library's operational status at a glance. Status
LEDs are also included on the back of each tape drive assembly and each power supply.

1.2 Library Resource Module (LRM)
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501601 Rev. 07-01-19
1.2.3 Robotic Handler and Barcode Reader
Shown in Figure 1-12, the robotic tape handler within each LRM can access cartridges
anywhere on the front wall or the back wall. It can also access slots on the rotating
carousel of an attached MEM. The handler is controlled by the medium changer interface
and shared by all host software applications on a first-come, first-served basis.
Figure 1-12 Robotic handler (shown reaching into an attached MEM )
Gripper Assembly
The gripper assembly is the part of the handler that actually picks and places the
cartridges in the storage slots and tape drives. The gripper moves along four axes, as
follows:
• The X-axis is the horizontal axis.
• The Y-axis is the vertical axis.
• The Theta-axis is the rotating axis that allows the gripper assembly to reach
cartridge slots on the front, back, and sides of the cabinet.
• The Z-axis is the in-and-out axis. The fingers on the gripper assembly are opened
and closed using a solenoid and use a sensor to determine if they are open or
closed.
Barcode Reader
Located on the gripper assembly, the barcode reader performs two types of scans:
• Fiducial scan. Fiducials are the black and white triangles mounted on either
side of every cartridge magazine (see Figure 1-13 on page 1-13). There is also a