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Method and apparatus for adaptive cartridge retrieval and insertion in a storage library subsystem

  • US 5,622,470 A
  • Filed: 04/28/1995
  • Issued: 04/22/1997
  • Est. Priority Date: 04/28/1995
  • Status: Expired due to Fees
First Claim
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1. In a storage library subsystem having a rotary carousel with removable magazines with slots for storing media cartridges and having a robotic gripper hand for controllably moving media cartridges within said storage library subsystem, a method for adapting the alignment of said robotic gripper hand with one of said slots to adjust for mechanical misalignments between said gripper hand and said one of said slots comprising the steps of:

  • (a) receiving a request to insert a media cartridge into a slot of a magazine;

    (b) retrieving said media cartridge into said gripper hand;

    (c) aligning said gripper hand with said slot responsive to receipt of said request to insert;

    (d) extending said gripper hand to insert said media cartridge into said slot;

    (e) detecting a failure of the extension of said gripper hand;

    (f) retracting said gripper hand responsive to detection of said failure;

    (g) incrementally adjusting the alignment between said gripper hand and said slot by a predetermined relative movement of said gripper hand with respect to said slot responsive to detection of said failure;

    (h) repeating steps (d) through (g) responsive to detection of said failure until the extension of said gripper hand succeeds by inserting said media cartridge into said slot; and

    (l) storing adjustment values indicative of adjustments performed by the last repetition of step (g), the stored adjustment values usable to compensate subsequent movement of said gripper hand.

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