Document 88555

Automated Cartridge System

Diagnostic Users Guide

Automated Cartridge System

Diagnostic Users Guide

Information contained in this publication is subject to change. In the event of changes, the publication will be revised. Comments concerning its contents should be directed to: Nearline Information Development Storage Technology Corporation One StorageTek Drive Louisville, CO 80028-2201 USA

Information Control This publication and the information contained herein is the property of StorageTek. Furthermore, all information is considered StorageTek Proprietary Information and is intended for the exclusive use of our employees and authorized third parties. No information in this publication may be read, copied, used, distributed, or shared with any other person without the prior written consent of StorageTek. Should this publication be found, please return it to StorageTek, One StorageTek Drive, Louisville, CO 80028-5214, USA. Postage is guaranteed.

1988 through 2000, Storage Technology Corporation, Louisville, CO, USA. All rights reserved. Printed in USA. StorageTek, the signature, and Information Made Powerful are trademarks of Storage Technology Corporation, Other product names may be trademarks of Storage Technology Corporation or other vendors/manufacturers.

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List of Pages
Document Title: Manual Part Number: Assembly Part Number: Initial Release Date: Fourth Edition Date: Automated Cartridge System Diagnostic Users Guide 88555 410791001 September 1988, EC 19599 March 2000, EC 111453

Total number of pages in this document is 206, consisting of the following: Pages Cover Blank page Title page Copyright page iii through xxvi 1-1 through 1-8 2-1 through 2-38 3-1 through 3-4 4-1 through 4-4 5-1 through 5-2 6-1 through 6-4 7-1 through 7-28 8-1 through 8-6 9-1 through 9-6 10-1 through 10-6 11-1 through 11-6 12-1 through 12-10 A-1 through A-32 B-1 through B-2 C-1 through C-10 Index-1 through Index-8 Readers Comment Form Business Reply Mailer Blank Page Back Cover Disposition Replace entire manual

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Summary of Changes
Ee

EC 19599 53488 111453

Date September 1988 November 1998 March 2000

Edition First Third Fourth

Description Initial Release Refer to this edition for a description of the changes. Added editing comments to entire manual. Preface: Added safety information. Chapter 8: Added information for non-readable 4410 FRU IDs

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Contents
List of Pages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
Organization . . . . . . . . . . . . . . . . . . . . . Trademarks . . . . . . . . . . . . . . . . . . . . . . Alert Messages . . . . . . . . . . . . . . . . . . . Safety . . . . . . . . . . . . . . . . . . . . . . . . . Conventions . . . . . . . . . . . . . . . . . . . . . Related Publications . . . . . . . . . . . . . . . Obtaining Information . . . . . . . . . . . . . . Customer Resource Center . . . . . . . . Documents on CD . . . . . . . . . . . . . . Electronic Documentation Center . . . KnowledgeMap . . . . . . . . . . . . . . . . Partners Page . . . . . . . . . . . . . . . . . . StorageTek Storefront . . . . . . . . . . . . ......... ......... ......... ......... ......... ......... ......... ......... ......... ......... ......... ......... ......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... . . . . . xix . . . . . .xx . . . . . .xx . . . . . .xx . . . . . xxii . . . . xxiii . . . . . xxv . . . . . xxv . . . . . xxv . . . . . xxv . . . . . xxv . . . . xxvi . . . . xxvi

1: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Maintenance Philosophy . . . . . . . . . . . . Automatic Fault Isolation . . . . . . . . Inline Testing . . . . . . . . . . . . . . . . . Real-Time Monitoring . . . . . . . . . . . Machine Initiated Maintenance . . . . Remote Maintenance . . . . . . . . . . . . ACS Diagnostic System Overview . . . . . SDE Display Device . . . . . . . . . . . . . . . . SDE Communication Protocol . . . . . . . . ......... ......... ......... ......... ......... ......... ......... ......... ......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... ..... ..... ..... ..... ..... ..... ..... ..... ..... 1-1 1-1 1-2 1-2 1-3 1-3 1-5 1-6 1-7

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2: Test Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

4400 LMU/LCU PROM Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Tests 110/120: PROM CRC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Tests 130/140: Interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Tests 150/160: Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Tests 170/180: Paging/Parity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Test 190: LMU Floppy Disk Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Test 1B0: LMU Floppy Disk #1 Read Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Test 1C0: LCU Local-Area-Network Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Test 1D0: LMU Floppy Disk #2 Read Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Boot Overlay Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Powderhorn PROM Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 ROM Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 PRTY Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 RAM Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 LMU Boot Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Test 210: SCC (Communications) Internal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 230: Timer/Watchdog Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 250: Real-Time Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 270: FRU ID Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 290: Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 2B0: LMU Local-Area-Network Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Test 2D0: Processor LMUBUS Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 Test 310: 3274 Interface Wake-up/LMUBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6 4400 LSM Boot Environment Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 Test 200: SCC (Communications/Cartridge Drive) Internal . . . . . . . . . . . . . . . . . . 2-7 Test 220: Basic REI/REI Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 Test 240: Timer/Watchdog Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 260: FRU ID Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 280: Parity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 2A0: FRU Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 2C0: REI Basic Servo Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 2E0: DAC/ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Test 300: Camera Control/DMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 Test 320: CAP/Door Solenoid Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 Test 340: Temperature/Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 Powderhorn LSM Boot Environment Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10 DG00: Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10 DG01: Basic Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10 DG02: LCA Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 DG03: FRU ID Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 DG04: FRU Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

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DG05: Parity Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG06: Basic PTP/CEM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG07: Vision Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG08: ADC Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG09: Temperature/Voltage ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG10: Standard Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG11: Standard Door Solenoids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG20: Clipper Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG21: Clipper Door Solenoids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DG22: Clipper CMZ Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inline Test Overlays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 400: LSM Servo Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 410: Roll Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 420: Wrist Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 430: Reach Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 440: Finger Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 450: Z Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 460: Theta Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 470: Camera/Lamp Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 480: PTP/CEM Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 500: LSM Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 510: Roll Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 520: Wrist Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 530: Reach Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 550: Z Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 560: Theta Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 580: PTP/CEM Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 5D0: Roll-Wrist Concurrent Motions . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 5E0: Roll-Wrist-Z Concurrent Motions . . . . . . . . . . . . . . . . . . . . . . . . . . Test 5F0: Roll-Wrist-Z-Theta Concurrent Motions . . . . . . . . . . . . . . . . . . . . . Section 700: Vision Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 710: Vision Targeting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 730: Vision VOLSER Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 750: Vision Expanded Readability Test . . . . . . . . . . . . . . . . . . . . . . . . . Section 800: Functional Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 810: Cartridge Move Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 820: Mount/Dismount Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 830: Swap Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 900: Special Coverage Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 910: Master PTP/CEM Load Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Test 920: Slave PTP/CEM Load Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section E00: Extended Duration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-11 2-11 2-11 2-11 2-11 2-11 2-12 2-12 2-12 2-12 2-12 2-14 2-14 2-15 2-15 2-15 2-15 2-16 2-16 2-16 2-17 2-17 2-17 2-18 2-18 2-19 2-19 2-19 2-20 2-20 2-20 2-21 2-22 2-23 2-25 2-25 2-26 2-27 2-27 2-28 2-28 2-29

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Test E20: Extended Cartridge Motion . . . . . . . . Section F00: Manual Intervention . . . . . . . . . . . . . . Test F10: LMU Floppy Verification . . . . . . . . . . Test F30: LSM Access Door Interlock . . . . . . . . Test F50: LSM 21-Cell CAP Door Interlock . . . . Test F60: LSM 81-Cell CAP Door Interlock . . . . Test F70: LMU IPM External Wrap Test . . . . . . Test F90: LMU 3270 Terminal Control Unit Status Test FB0: LSM Transport Communications . . . . Test FE0: LSM Array Tilt Utility . . . . . . . . . . . . Test FF0: LSM Panel Alignment Utility . . . . . . .

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2-29 2-30 2-30 2-30 2-30 2-31 2-31 2-33 2-34 2-35 2-36

3: Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Environment Types . . Command Syntax . . . . Common Commands . Cancel Command . Help Command . . Message Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-2 3-3 3-3 3-3 3-4

4: Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Command List . . . . . . . . . . . . . . . . . . . List Command . . . . . . . . . . . . . . . . . . . Modify Command . . . . . . . . . . . . . . . . . Delete Command . . . . . . . . . . . . . . . . . Load Command . . . . . . . . . . . . . . . . . . Save Command . . . . . . . . . . . . . . . . . . Size Command . . . . . . . . . . . . . . . . . . . Special Considerations for Dual LMUs . . ......... ......... ......... ......... ......... ......... ......... ......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... ..... ..... ..... ..... ..... ..... ..... ..... 4-1 4-2 4-2 4-3 4-3 4-3 4-4 4-4

5: Dump Control Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Status Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Clrdump Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

6: Disk Operating System Environment . . . . . . . . . . . . . . . . . . . . 6-1

Command List . . . Receive Command SendCommand . . . Dir Command . . . Rename Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6-1 6-2 6-2 6-3

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7: Error Log Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Types of Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Unlock Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Download Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 List Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 General Syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 List Command Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 List CommandPrevious Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 List CommandExtended Print Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 List CommandDevice = x Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 List CommandTOD Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 List CommandTOD, Range Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 List CommandLogging Sequence Number Option . . . . . . . . . . . . . . . . . . . . . 7-6 List CommandEvent Type Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 List CommandStatistic Type Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 List CommandFault Symptom Code Option . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 List CommandID Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 List CommandHost ID Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 List CommandLMU Response Code Option . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 +/- #n Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 Status Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 Analyze Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 Error Summary (LMU/LSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 Operation Summary (LSM Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 Purge Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 Event Log Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 Event Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11 Host Interface Error (ET=01) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12 LMU IPL Event (ET=02) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 LMU IPM Error (ET=04) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 LMU Internal Error (ET=05) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 LSM Inoperatives ResetInitialization Complete Event (ET=06) . . . . . . . . . . 7-13 LMU IPM Data Dump (ET=07) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 LMU Rejected LAN Packet (ET=08) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14 LSM Error Response (ET=09)Event Buffers to Follow . . . . . . . . . . . . . . . . . 7-14 LSM Event Buffer (ET=0A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 Servo Snapshot Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 LSM Error Response (ET=0B)No Event Buffers . . . . . . . . . . . . . . . . . . . . . . 7-21 LSM Requested Dump (ET=0C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 LSM Door Opened (ET=0D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21

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LSM Door Closed (ET=0E) . . . . . . . . . . . . . . LSM Go Home Request (ET=0F) . . . . . . . . . LSM Operational Change (ET=10) . . . . . . . . LSM IPL Complete (ET=11) . . . . . . . . . . . . . LSM LAD Closed (ET=12) . . . . . . . . . . . . . . LSM Intervention Required (ET=13) . . . . . . . LSM CAP Opened Illegally (ET=14) . . . . . . . LSM LAD Opened (ET=15) . . . . . . . . . . . . . Diagnostic Log Content . . . . . . . . . . . . . . . . . . . . . Diagnostic Event Types . . . . . . . . . . . . . . . . . . . . . . Diagnostic Started (ET=20) . . . . . . . . . . . . . . . . Diagnostic Completed (ET=21) . . . . . . . . . . . . . Statistical Log Content . . . . . . . . . . . . . . . . . . . . . . . Statistical Log Event Types . . . . . . . . . . . . . . . . . . . . LMU LAN Statistics (ST=01, ID=000x) . . . . . . . . . LMU ATHS Statistics (ST=02, ID=000x) . . . . . . . . LMU Host Request Statistics (ST=03, ID=00xx) . . LMU Host Interface Statistics (ST=04, ID=00xx) . . LMU IPM Statistics (ST=05, ID=00xx) . . . . . . . . . LMU Floppy Statistics (ST=06, ID=000x) . . . . . . . LMU Voltage/Temperature Statistics (ST=07) . . . . LSM Theta Statistics (ST=10) . . . . . . . . . . . . . . . . LSM Z Statistics (ST=11) . . . . . . . . . . . . . . . . . . . LSM Wrist Statistics (ST=12) . . . . . . . . . . . . . . . . LSM CAP Statistics (ST=13) . . . . . . . . . . . . . . . . . LSM Roll Statistics (ST=14, ID=000x) . . . . . . . . . . LSM Reach Statistics (ST=15, ID=000x) . . . . . . . . LSM Finger Statistics (ST=16, ID=000x) . . . . . . . . LSM PTP Statistics (ST=17, ID=000x) . . . . . . . . . . LSM VOLSER Read Statistics (ST=18) . . . . . . . . . . LSM Lamp Statistics (ST=19, ID=xxyy) . . . . . . . . . LSM Transport/Drive Statistics (ST=1A, ID=xxyy) . . . . LSM Fine Positioning Statistics (ST=1B, ID=00xx) LSM Complex Motion Statistics (ST=1C, ID=00xx) LSM LAN Statistics (ST=1D, ID=000x) . . . . . . . . . LSM Panel Calibration Statistics (ST=1E, ID=000x) LSM Performance Statistics (ST=1F, ID=000x) . . . LSM Alignment Statistics (ST=20, ID=000x) . . . . . LSM Voltage/Temperature Statistics (ST=21) . . . .

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7-21 7-21 7-21 7-21 7-21 7-21 7-21 7-21 7-22 7-22 7-22 7-22 7-22 7-23 7-23 7-23 7-24 7-24 7-24 7-24 7-24 7-24 7-25 7-25 7-25 7-25 7-25 7-25 7-25 7-25 7-26 7-26 7-26 7-26 7-26 7-26 7-26 7-27 7-27

8: Field Replaceable Unit Environment . . . . . . . . . . . . . . . . . . . . . 8-1

Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

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Cnames Command . . . . . . . . . . . . . . . . . . . . . . . . . . Download Command . . . . . . . . . . . . . . . . . . . . . . . . Examine Command . . . . . . . . . . . . . . . . . . . . . . . . . Level Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . List Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modify Command . . . . . . . . . . . . . . . . . . . . . . . . . . . Xprint Command . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing FRU ID Information . . . . . . . . . . . . . . . . . . 4410 Non-Readable FRU ID Modification . . . . . . . Special Considerations for Dual LMU . . . . . . . . . . Performance Enabling or Disabling for a 4411 LSM

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9: Library Diagnostic Language . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Command List . . CATD Command DMTD Command MNTD Command MOVD Command SWPD Command VIEW Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9-1 9-2 9-2 9-3 9-3 9-4

10: Machine-Initiated Maintenance Environment . . . . . . . . . . . . 10-1

Command List . . . . . . . . . . . MIM Categories . . . . . . . . . . Enable Command . . . . . . . . . Disable Command . . . . . . . . List Command . . . . . . . . . . . Set Command . . . . . . . . . . . . Test Command . . . . . . . . . . . MIM Installation Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1 10-2 10-2 10-2 10-3 10-3 10-4 10-4

11: Standard Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . Audit Command . . . . . . . . . . . . . . . . . . . . . . . . . . . Load Command . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . Select Command . . . . . . . . . . . . . . . . . . . . . . . . . . Testing Procedure . . . . . . . . . . . . . . . . . . . . . . . . . Follow-up to LSM Initialization Failure Display . . Error Log-Indicated Failures . . . . . . . . . . . . . . . . .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .... .... .... .... .... .... .... .... 11-1 11-1 11-1 11-2 11-3 11-4 11-5 11-5

12: Utility Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

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Command List . . . . . . . . . . . . . . . . Baud Command . . . . . . . . . . . . . . . Install Command . . . . . . . . . . . . . . IPL Command . . . . . . . . . . . . . . . . Log Command . . . . . . . . . . . . . . . . Siteloc Command . . . . . . . . . . . . . . Status Command . . . . . . . . . . . . . . LMU Communication Status . . . . LSM Status . . . . . . . . . . . . . . . . . Tape Transport/Drive Status . . . . LSM Performance Data . . . . . . . . TOD Command . . . . . . . . . . . . . . . Special Considerations for Dual LMU

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12-1 12-1 12-2 12-2 12-3 12-4 12-5 12-5 12-6 12-7 12-7 12-8 12-9

A: Event Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 Event Log Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 Get Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2 Normal Get . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2 Read Retry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4 VOLSER Miscompare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6 Put Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10 Normal Put . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10 Put To a Full Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11 Catalog Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15 Normal Catalog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15 Quick Catalog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16 Catalog of an Empty Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17 Tape Drive Fault Symptom Code Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 Vision Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 Damaged Target . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 DMA Failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23 Old Picture Found in Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24 Re-Initialization During Operation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . A-27 Reach Re-Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-27 Theta Re-Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-28 Theta Inoperative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-30

B: Fault Symptom Code Dictionary . . . . . . . . . . . . . . . . . . . . . . . . B-1 C: Vision Diagnosis Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Vision System Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

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Vision System Examples Barcode . . . . . Readability Percentages Output . . . . . . . Lamp Value BFCF Percentage . . . . . . . . Lamp Value D7F7 Percentage . . . . . . . . Lamp Value FF Percentage . . . . . . . . . . . Readability Matrix Output . . . . . . . . . . . Standard Matrix . . . . . . . . . . . . . . . . . . . Low Gain Matrix . . . . . . . . . . . . . . . . . High Gain Matrixes . . . . . . . . . . . . . . .

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. . . . . C-1 . . . . . C-2 . . . . . C-2 . . . . . C-2 . . . . . C-2 . . . . . C-3 . . . . . C-3 . . . . . C-7 . . . . . C-9

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1 Readers Comment Form

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Figure 1-1. Remote Maintenance Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

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Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table 1-1. 1-2. 1-3. 1-4. 2-1. 2-2. 2-3. 2-4. 2-5. 2-6. 3-1. 3-2. 3-3. 3-4. 3-5. 4-1. 4-2. 4-3. 4-4. 4-5. 4-6. 4-7. 5-1. 5-2. 5-3. 6-1. 6-2. 6-3. 6-4. 6-5. 7-1. 7-2. 7-3. 7-4. 7-5. 7-6. Remote Support Equipment . . . . . . . . . . . . . . ACS Diagnosis Support . . . . . . . . . . . . . . . . . RS-232 Port Functions . . . . . . . . . . . . . . . . . . Dumb Terminal Mode Keys . . . . . . . . . . . . . . RS-232 Port Functions . . . . . . . . . . . . . . . . . . Inline Tests (Standard Environment) . . . . . . . . Target Location Specification . . . . . . . . . . . . . Status Usage . . . . . . . . . . . . . . . . . . . . . . . . . Character Value Categories . . . . . . . . . . . . . . Character Value Fields . . . . . . . . . . . . . . . . . . Types of Environments . . . . . . . . . . . . . . . . . Common Commands . . . . . . . . . . . . . . . . . . . Cancel Command . . . . . . . . . . . . . . . . . . . . . Help Command . . . . . . . . . . . . . . . . . . . . . . . Message Command . . . . . . . . . . . . . . . . . . . . CFG Environment Commands . . . . . . . . . . . . List Command . . . . . . . . . . . . . . . . . . . . . . . . Modify Command . . . . . . . . . . . . . . . . . . . . . DeleteCommand . . . . . . . . . . . . . . . . . . . . . . Load Command . . . . . . . . . . . . . . . . . . . . . . . Save Command . . . . . . . . . . . . . . . . . . . . . . . Size Command . . . . . . . . . . . . . . . . . . . . . . . DMP Environment Commands . . . . . . . . . . . . Status Command . . . . . . . . . . . . . . . . . . . . . . Clrdmp Command . . . . . . . . . . . . . . . . . . . . . DOS Environment Commands . . . . . . . . . . . . Receive Command . . . . . . . . . . . . . . . . . . . . Send Command . . . . . . . . . . . . . . . . . . . . . . . Dir Command . . . . . . . . . . . . . . . . . . . . . . . . Rename Command . . . . . . . . . . . . . . . . . . . . ERL Environment Commands . . . . . . . . . . . . . Unlock Command . . . . . . . . . . . . . . . . . . . . . DO(wnload) Command . . . . . . . . . . . . . . . . . List Command . . . . . . . . . . . . . . . . . . . . . . . . List Command Options . . . . . . . . . . . . . . . . . +/- Command . . . . . . . . . . . . . . . . . . . . . . . . .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... .......... . . . . . 1-5 . . . . . 1-5 . . . . . 1-6 . . . . . 1-7 . . . . . 2-9 . . . . 2-12 . . . . 2-21 . . . . 2-32 . . . . 2-33 . . . . 2-33 . . . . . 3-1 . . . . . 3-3 . . . . . 3-3 . . . . . 3-3 . . . . . 3-4 . . . . . 4-1 . . . . . 4-2 . . . . . 4-2 . . . . . 4-3 . . . . . 4-3 . . . . . 4-3 . . . . . 4-4 . . . . . 5-1 . . . . . 5-1 . . . . . 5-2 . . . . . 6-1 . . . . . 6-2 . . . . . 6-2 . . . . . 6-3 . . . . . 6-3 . . . . . 7-2 . . . . . 7-3 . . . . . 7-3 . . . . . 7-4 . . . . . 7-4 . . . . . 7-8

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Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table

7-7. Status Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 7-8. Analyze Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 7-9. Purge Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 7-10. Event Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11 7-11. LMU IPM Data Dump Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 7-12. Common Display Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 7-13. Status Flag (SFLG) Bit Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16 7-14. Sense Register (S_REG) Bit Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17 7-15. Other Snapshot Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18 7-16. LSM Servo Mechanism Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20 7-17. Diagnostic Event Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22 7-18. Statistic Event Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22 7-19. ID Option Selection Values for LSM Performance Statistics . . . . . . . . . . . . . . . 7-27 7-20. ID Option Selection Values for LSM Alignment Statistics . . . . . . . . . . . . . . . . 7-27 8-1. FRU Environment Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1 8-2. Cnames Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 8-3. Download Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 8-4. Examine Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 8-5. Level Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 8-6. List Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 8-7. Modify Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 8-8. Xprint Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 8-9. 4410 Non-Readable FRU IDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 9-1. LDL Environment Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1 9-2. CATD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 9-3. DMTD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 9-4. MNTD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 9-5. MOVD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 9-6. SWPD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 9-7. View Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5 10-1. MIM Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1 10-2. MIM Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2 10-3. Enable Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2 10-4. Disable Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3 10-5. List Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3 10-6. Set Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4 10-7. Test Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4 11-1. STD Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1 11-2. Audit Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1 11-3. Load Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2 11-4. Run Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2 11-5. Run Command Control Modifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

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Table 11-6. Run Command Test Modifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3 Table 11-7. Select Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3 Table 12-1. UTL Environment Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1 Table 12-2. Baud Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2 Table 12-3. Install Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2 Table 12-4. IPL Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3 Table 12-5. Log Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3 Table 12-6. Mechanism Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4 Table 12-7. Siteloc Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4 Table 12-8. Status Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5 Table 12-9. TOD Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-9 Table A-1. Normal Get Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3 Table A-2. Read Retry Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5 Table A-3. VOLSER Miscompare Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7 Table A-4. Normal Put Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10 Table A-5. Put to a Full Cell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12 Table A-6. Normal Catalog Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15 Table A-7. Quick Catalog Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16 Table A-8. Catalog of an Empty Cell Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17 Table A-9. Tape Drive Fault Symptom Code Example . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 Table A-10. Damaged Target Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20 Table A-11. DMA Failure Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23 Table A-12. Old Picture Found in Memory Example . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24 Table A-13. Reach Re-Initialization Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-27 Table A-14. Theta Re-initialization Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29 Table A-15. Theta Inoperative. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-30 Table C-1. Expanded Readability Test MatrixPCAL Label. . . . . . . . . . . . . . . . . . . . . . . . C-4 Table C-2. Expanded Readability Test MatrixEDP or Write Line Label Example 1 . . . . . . C-5 Table C-3. Expanded Readability Test MatrixEDP or Write Line Label Example 2 . . . . . . C-6 Table C-4. Expanded Readability Test MatrixLow Gain Example 1 . . . . . . . . . . . . . . . . C-7 Table C-5. Expanded Readability Test MatrixLow Gain Example 2 . . . . . . . . . . . . . . . . C-8 Table C-6. Expanded Readability Test MatrixHigh Gain Matrix . . . . . . . . . . . . . . . . . . . C-9

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The Automated Cartridge System Diagnostic Users Guide is intended for use by StorageTek solutions delivery engineers (SDEs), product education, and engineering to help maintain and support the 4400 Automated Cartridge System (ACS). This guide describes the 4400 diagnostic system, with an emphasis on command language syntax. Examples are provided, as needed, to better explain commands. Note: This document does not cover general information, service, or installation procedures. Refer to the 4400 ACS Maintenance Manual or 4400/9310 Installation Manuals for information of that type.

s Organization
This book contains the following information: Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Introduction Test Descriptions Environments Configuration Dump Control Environment Disk Operating System Environment Error Log Environment Field Replaceable Unit Environment Library Diagnostic Language Machine-Initiated Maintenance Environment Standard Environment Utility Environment

Appendix A Event Log Appendix B Fault Symptom Code Dictionary Appendix C Vision Diagnosis Examples Index The Index assists in locating information in this publication.

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A Readers Comment Form at the back of this publication is for communicating suggestions or requests for change. We encourage and appreciate reader feedback. In addition, StorageTek employees with access to Portal can complete an online readers comment form. Point your browser to: http://sts/sts/nid/nidrcf.htm

s Trademarks
StorageTek is a trademark of Storage Technology Corporation. Other features or terms used in this publication are for informational purposes only and might be trademarks of Storage Technology Corporation or other companies.

s Alert Messages
Alert messages signal the reader to special information pertaining to a concept, a procedure, or other information. Note: Provides additional information that might be of special interest. A note can point out exceptions to rules or procedures. A note usually, but not always, follows the information to which it relates. CAUTION: Informs the user of conditions that might result in damage to hardware, corruption of customer data or application software, or long-term health hazard to people. A caution always precedes the information to which it relates. WARNING: Alerts the user to conditions that might result in injury or death. A warning always precedes the information to which it pertains.

s Safety
All maintenance personnel must use the following safety precautions to prevent injury to themselves and others, or damage to the equipment. Solutions delivery engineers (SDEs) are responsible for making the system safe for themselves, other SDEs, and user personnel. WARNING: Personal injury. If manual access is required to the LSM, the individual closing the outer access door must first physically check the interior of the LSM and ensure that it is free of all personnel, tools, and parts before securing the door. Failure to do so could result in loss of life and/or destruction of equipment.

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Never work alone when hazardous conditions are present. Always disconnect AC and DC power when working in the vicinity of an exposed power supply. When you must work on equipment with exposed parts and circuitry, take the following precautions: Be sure that another person familiar with power-off controls is in the immediate vicinity. Do not wear jewelry. Use only insulated tools, keeping one hand in your pocket whenever possible. Avoid contacting a ground potential (for example, metal floors or machine frames); use a suitable rubber mat.

Wear safety glasses when soldering or using a power drill; cleaning parts using solvents, sprays, cleaners, or chemicals; and when working in highvoltage areas or in the filter capacitor section of DC power supplies. Replace worn or broken tools and defective test equipment. Use only tools and test equipment approved by Storage Technology Corporation. Restore all safety signs, guards, shields, and other safety equipment, after completing maintenance. Do not attempt to defeat safety interlocks except as explicitly called for in the maintenance procedure. Restore all safety interlocks to their normal position before returning the equipment to the customer. Place removed covers in a safe, out-of-the-way area. Replace covers and ensure that they are locked by fastening the screws before returning the unit to the user. Always keep the SDE tool box away from walk areas. Maintain good housekeeping practices while performing and after completing maintenance. Ensure that all signal or interface cables have been connected before returning the machine to the user. Cables must not be left with one end connected and the other accessible to a user.

Note: This statement is required for IEC certification and must not be changed or deleted without the authority of Product Safety.

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s Conventions
Typographical conventions highlight special words, phrases, and actions used in this publication. Item Button Example
MENU

Description Physical buttons or switches, onscreen buttons, and softkeys appear in Helvetica font and in all CAPITAL letters. Important or emphasized words and phrases appear in italics. Filenames appear in Courier font. Indicators and LEDs appear with Initial Capital Letters and in italics. Keyboard keys appear within brackets, in Helvetica font, with Initial Capital Letters or as the key appears on the keyboard. Screen captures or messages appear in Courier font. Names of variables that require values assigned appear in italics. Pathnames appear in Courier font. Switch, jumper, and circuit breaker positions appear in default font and all capital letters.

Emphasized text Filenames Indicators and LEDs

not or must dictionary.txt Open

Keyboard keys [Y],

[Enter] or [Ctrl+Alt+Delete]

Screen captures and messages Parameters and input Pathnames Positions for switches, jumpers, and circuit breakers

downloading

Device = xx P:\Printshp\Pubs or home/gandalf/litdist ON

URLs and www.stortek.com/techpubs hypertext links

Universal Resource Locator (URL) and hypertext links appear in blue text and underlined.

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s Related Publications
Additional information is contained in the following publications: Publication Cartridge / Tape Drive Subsystems 4480 Illustrated Parts Catalog 4480 Installation Manual 4480 Maintenance Manual 4480 Operators Guide 80342 95689 89006 410949601 Part Number

4490 Cartridge Drive Service Manual 4490 Control Unit Service Manual 4490 Diagnostic Guide 4490 Illustrated Parts Catalog 4490 Installation Manual 4490 Operators Guide

308711801 308711701 308711901 308712001 308711601 308711501

4780 Illustrated Parts Catalog 4780 Installation Manual 4780 Maintenance Manual 4780 Operators Guide

89050 89047 89048 89049

4781 Fault Code Dictionary 4781 Illustrated Parts Catalog 4781 Installation Manual 4781 Maintenance Manual 4781/4791 SCSI Reference Manual 4781/4980 SCSI Reference Manual

404494801 404494701 411071801 404494601 310402201 404359201

4791 Control Unit Service Manual 4791 Installation Manual 4791 Operators Manual 4781/4490 Diagnostic Guide

310402601 9783 310402801 310402701

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Publication 4791/4490 Illustrated Parts Catalog

Part Number 310402501

9490 Compatibility Manual & Illustrated Parts Catalog 9490 Diagnostic Guide 9490 Installation Manual 9490 Operators Guide 9490 Service Manual 9490 Systems Assurance Guide 9490 Technical Reference Manual

310710601 310710301 9636 9634 310710401 ML 0040 X 310710501

9840 Tape Drive General Information Manual 9840 Tape Drive Installation Manual 9840 Tape Drive Migration Planning Guide 9840 Tape Drive Service Reference Manual 9840 Tape Drive Systems Assurance Guide 9840 Tape Drive Users Reference Manual

MT 4004 X 95879 MT 6004 X 95740 MT 5003 X 95739

SD-3 Compatibility Manual and Illustrated Parts Catalog 310506801 SD-3 Diagnostic Guide SD-3 General Information Manual SD-3 Installation Manual SD-3 Operators Guide SD-3 Planning and Migration Guide SD-3 Service Manual SD-3 Systems Assurance Guide SD-3 Technical Reference Manual 310508101 ML 0515 X 310507901 9634 ML 0526 X 310507701 ML 0527 X 310508001

Library Publications 9330 Library Management Unit Installation Manual 9360 Library Service Manual 9360/15/12 ACS Installation Manual 9320 Cartridge Exchange Mechanism Installation Guide 9863 9869 9867 95803

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Publication Miscellaneous Nearline Physical Planning Guide

Part Number

ML 0041

s Obtaining Information
You may have access to the following additional sources of information.

Customer Resource Center

StorageTeks Customer Resource Center (CRC) is an online service that provides technical information such as software publications, user documentation, maintenance fixes, and answers to frequently-asked questions. The CRC is for StorageTek employees and for contract customers and partners with a login and password. The location of the CRC is http://www.support.storagetek.com

Documents on CD
Documents on CD is a compact disc that contains portable document format (PDF) files of StorageTeks tape, library, and OPENstorage disk publications. This CD is for StorageTek employees only. Contact the Logistics Depot to order the CD or get onto the distribution list.

Electronic Documentation Center

StorageTeks Electronic Document Center (EDC) is an online service that provides links to technical publications about StorageTek products, pre-sales planning, and strategic tools. The EDC is for StorageTek employees only. The location of the EDC is http://gandalf.stortek.com/dynaweb/prod

KnowledgeMap
StorageTeks KnowledgeMap is an online service that provides product information, general resources, white papers, and answers to frequently-asked questions. It also contains information about networks, platforms, and sales support. The KnowledgeMap is for StorageTek employees and distributors. The location of the KnowledgeMap is http://wwfokm.stortek.com/

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Partners Page
StorageTeks Partners Page is an online service that provides information about events, education, products, and connectivity. The Partners Page is for StorageTek employees and partners with a login and password. The location of the Partners Page is http://www.storagetek.com/Partners/

StorageTek Storefront
The Storefront is StorageTeks external web site. The Storefront provides information about topics such as news bulletins, products, services, integrated solutions, customer support, and upcoming events. The storefront is accessible to all persons with a web browser. The location of the Storefront is http://www.storagetek.com

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This chapter provides you with information and procedures for field maintenance of the 4400 Automated Cartridge System (ACS). It describes the ACS diagnostic system, a solutions delivery engineer (SDE) tool designed to provide the customer maximum subsystem availability. It also supplies procedures for diagnosing the 4430 Library Management Unit (LMU), Library Storage Module (LSM) including the Library Control Unit (LCU) and the Cartridge/Tape Drive Subsystem, along with their respective interfaces. Note: Refer to the appropriate cartridge/tape drive subsystem service, maintenance, installation, or diagnostic manual for more information about the subsystem attached in your account. A list of related publications is located in Obtaining Information on page xxv.

s Maintenance Philosophy
The 4400 ACS maintenance philosophy features five basic concepts: Automatic fault isolation In-line testability Real-time monitoring Machine Initiated Maintenance (MIM) Solutions Delivery Support (SDS).

Each of these concepts plays a part in reducing the cost of maintenance and improving the subsystems availability to the customer. In a subsystem such as the 4400, availability is critical to the customer. Building in the preceding capabilities provides you with a better understanding of fault situations. Time spent engaging in the task of field replaceable unit (FRU) adjustment, removal, and replacement is therefore reduced. With constant monitoring and MIM capability, the subsystem can even predict a failure so that servicing may be scheduled with preventive maintenance (PM).

Automatic Fault Isolation

Automatic fault isolation is defined as FRU isolation, which may be performed using passive, short-term operations, such as error log analysis and status examination. SDE procedures such as diagnostic test execution are not considered automatic due to their lengthy run times. SDS support is

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sometimes required for full effectiveness. Access to machine history and expert system error log analysis improve effectiveness. Goals established for this category are: 100% detection (all customer problems logged) and high confidence fault isolation (to three FRUs) available for 95% of all failures.

Inline Testing
With approximately 6,000 cartridges per LSM, any offline requirement to support fault diagnosis is a serious detriment to the customer. The characteristic of inline availabilitysharing subsystem resources with the customer when isolating non-catastrophic failuresis immensely important. The redundant design philosophy, which increases mean time between failures (MTBF) for the customer, now introduces a marginal class of failure. For these, inline isolation has a greater importance. You may perform passive operations (such as status or error log display) at any time. The resources shared for this operation are the LAN interface (to the LSMs) and processor time during mass storage accessinsignificant impacts to the customer. Should automatic isolation not be possible, you will be directed to run diagnostic tests against the suspected fault area. Diagnostic tests require you to vary an LSM to maintenance mode (see the SELECT command description of the STD environment). This protects the customer from all subsequent diagnostic activity. Available tests range from mechanism initialization to high-level, customer-equivalent mount/dismount operations. In some cases, you may be required to reboot an LSM to pick up the low-level testing of the PROM and boot environments. This same procedure applies when verifying ACS installation and repairs. Goals established for the fault isolation capabilities of the above testing are: 100 percent detection of customer detectable problems with 95 percent of these capable of being isolated to three FRUs.

Real-Time Monitoring
Software constantly monitors performance by collecting error and statistical information about the subsystem. Operation retries and environmental conditions (such as voltage and temperature) are two examples of monitored information. In addition to saving this data (LMU floppy files termed error logs), notification to the customer or SDS may result.

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Machine Initiated Maintenance

The 4400 products conform to a policy that includes MIM. MIM initiation depends on the service level of the account and the event type. MIM determines whether it must communicate with SDS, the host, or both. There are two service levels for MIM accounts: Full service: The subsystem initiates a call to SDS whenever error or statistical information must be downloaded to the central data base. This takes place without operator intervention. The same initial call is made; however, no immediate event log download takes place. SDS must arrange with the account to perform the download and any further service. This mode is provided for security reasons.

Partial service:

MIM-disabled is the default mode of newly released functional diskettes but may also be entered due to faulty communication hardware. In this mode, degraded behavior information is routed to the operator console. This is in addition to the normal indications of subsystem failure. Less significant conditions, such as event log full, are suppressed in this mode. Note: Only limited MIM capabilities are available at the 2.2 microcode level. See Chapter 10, Machine-Initiated Maintenance Environment, for details.

Remote Maintenance
The ACS diagnostic system supports the StorageTek standard remote maintenance concepts. The system is used remotely by attaching a maintenance device to the subsystem using a modem, modem junction box (MJB), or machine activated routing switch (MARS+) if MIM is being supported. The MJB and MARS provides the SDS with a path to other StorageTek products. They support a command set independent of the ACS diagnostic system allowing SDS communication path control. The LMU provides two communication ports. This accommodates a local user in addition to the SDS user. Either can control maintenance operations, although, at any give time, only one is considered the primary user. Local and remote terminals may communicate with each other at any time. The data base to which SDS has access contains performance and failure history covering many subsystems. This information consists of downloaded error logs, manufacturing card histories, and field data reports (FDRs). By centralizing this information, SDSs ability to resolve faults is enhanced. Figure 1-1 on page 1-4 is an example of remote connections for SDS and local support, and Table 1-1 on page 1-5 lists the equipment.

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Figure 1-1. Remote Maintenance Example

(11)

MODEM (1)

(12)

(9)

LMU (with up to 16 LSMs)

(7)

MARS+ (5)

D3 PC

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Hardware and cables that support remote connections are listed in Table 1-1. Table 1-1. Remote Support Equipment Equipment Modem Modem switches Cable RJ-45 to RJ-45 Description 9600 baud 16-port MARS+ 32-port MARS+ 20-ft MARS/UUT 50-ft MARS/UUT 100-ft MARS/UUT 150-ft MARS/UUT 200-ft MARS/UUT 250-ft MARS/UUT 4-ft modem to MARS (DB-25 to DB-9) Part Number 4953 4954 4955 410828902 410828905 410828910 410828915 410828920 410828925 4895

Modem/MARS interconnect cable

s ACS Diagnostic System Overview

Support for ACS diagnosis is covered by four software packages as shown in Table 1-2. Table 1-2. ACS Diagnosis Support POST utilities A software package which runs under the host operating system and tests the operation of the entire subsystem via the central processor. Documentation for the POST utilities package resides in the POST documentation. A series of tests and utilities started through any maintenance port (RS-232) at the LMU or LSM using a maintenance device (described by this manual). The cartridge subsystems use a maintenance device or SDE control panel on the subsystem to perform diagnostic tests and to monitor subsystem performance. See Obtaining Information on page xxv for the appropriate manual part numbers. An operating system, executable on the StorageTek 392X or maintenance device, which provides all communication support required to perform maintenance actions on both the 4400 and cartridge subsystem. Refer to the 392X Detached Diagnostic Device Field Engineering Maintenance Manual for more information.

4400 diagnostic system Cartridge or tape drive subsystem diagnostic tests and utilities Maintenance device (such as a 392X) and StorageTek Disk Operating System (SDOS)

The remainder of this chapter describes the built-in diagnostics and utilities provided as part of the 4400 library subsystem.

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s SDE Display Device

The SDE typically communicates with the subsystem with a 392X or other laptop device operating under the SDOS operating system or ASCII terminal emulation. SDOS provides a series of menus to select the type of activity to be performed, such as file system functions, SDE record keeping functions, or subsystem maintenance. This operating system also provides the specialized communication protocol required to access all features of the diagnostic system. You attach the terminal to any of the D-25 connectors within the subsystem (see Table 1-3). An interactive exchange directs diagnostic activity: control verbs initiate routine execution and the subsystem formats messages and responds to your maintenance device screen. Another SDOS feature, console recording, allows transactions to be written to a 392X file. Screen input/output (I/O) may then be reviewed at a more convenient time. The complete range of SDE provided maintenance commands available with SDOS is described in the 39XX FEMON Users Guide. Refer to the 392X Detached Diagnostic Device Field Engineering Maintenance Manual for detailed information on using the 392X. Table 1-3 indicates the functions currently available at each of the subsystems RS-232 ports. Table 1-3. RS-232 Port Functions Port LMU local (front panel) LMU remote (rear panel) LSM maintenance LSM utility Functions Diagnostic system/debugger Diagnostic system/debugger Not used LSM debugger/trace output Baud Rate 9600 Adjustable Not used 4800

Note: The LMU remote port baud rate has an adjustable default rate for SDS use. See Baud Command in Chapter 12, Utility Environment for procedures on setting the baud rate. Initialization of the 392X for attachment begins with SDOS start-up: 1. Execute the DT2X.LD or DT39.LD program (dumb terminal emulation) from the FILES ACTIVITIES menu. 2. Enter <RETURN> following the first prompt to allow communication mode customizing. Use the default for the next five prompts by entering <RETURN>. This sets 9600 baud rate and other communication parameters. 3. Enter N (capital letters only) for the next four prompts (IBM HOST TYPE, LOCAL ECHO, AUTO LINEFEED, and AUTO NEWLINE).

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You are now in dumb terminal emulation. The cursor is positioned in the lower part of the screen. Table 1-4 indicates special keys available for the dumb terminal use.

s SDE Communication Protocol

The 392X can be set up to communicate in a packeted protocol. This is required for binary data transfer operations, such as Download, Receive, and Send. This is enabled from the File Activities menu by entering <ESC> and MB2. All entries made at the upper command line of the panel are now sent using the SDOS communication protocol. Dumb terminal communication protocol is available by entering <PF4> and <Ctrl-C> (in addition to diagnostic system commands, the debugger facility may now be used). Packeted mode is reentered by entering <BREAK>. Table 1-4. Dumb Terminal Mode Keys Command
<Ctrl-C> <Ctrl-R> <Ctrl-S> <Ctrl-Z> <Ctrl-D> <Ctrl-PF12>, Z

Function Initiates communication with diagnostic system or cancels the current operation Recalls previous command Suspends screen output (Note: Press any other key to resume) Enters debugger mode Returns to diagnostic system Brings up the control menu, return to SDOS (392X dumb terminal emulation programs only)

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This chapter describes the diagnostic testing functions at the IPL PROM, boot, and inline levels: PROM and boot diagnostics are invoked automatically with each power-on or by pressing the IPL pushbutton. Once the subsystem is functional (following the last procedure of the boot environment). Inline tests are available for individual invocation by the local or remote interactive user using the Standard environment overlay. You may also perform a software IPL to restart the PROM and boot environments (an offline capability only).

Test grouping into the PROM, boot, and inline categories is based upon testing characteristics: PROM contains a minimal amount of testing; only that which is needed to ensure a successful boot load from the floppy or LAN. The boot environment contains tests that cannot be run as inlines due to their stressing of functionally accessed hardware. The remaining inlines are processor timesharing tests which target resources not needed by the customer (primarily offline LSMs). The last group tends to be the most valuable for fault detection due to their customer activity simulation. The PROM and boot are most valuable for fault isolation due to their coverage and sequential operation. Note: The following descriptions were last updated to reflect changes made at these hardware levels: LMU PROM diagnostics: CLA card assembly, Level 410219310 4400 LCU PROM diagnostics: CLZ card assembly, Level 410250307 Powderhorn LCU PROM: PLZ card assembly, Level 308403303

s 4400 LMU/LCU PROM Diagnostics

Testing progress and results are posted to the four-digit panel display. Threecharacter displays indicate active test IDs; static four-character hexadecimal displays indicate fault conditions and, usually, with the red SVC RQD (service required) light is also on. The RESET pushbutton may be used to continue beyond some of the less severe error conditions. In other cases, this is prevented, forcing you to correct the problem and re-IPL. The following sections describe the specific tests invoked during IPL PROM activity. Both the 4400 LMU and LSM perform similar low-level testing; one description follows to cover both.

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Note: Powderhorn displays differ in that active diagnostics are indicated by a DGxx type display. See Appendix B, Fault Symptom Code Dictionary, for information about the locating error codes.

Tests 110/120: PROM CRC

These tests are the first to execute after powering-up or resetting a device (IPL pushbutton). They verify PROM content without the use of RAM as scratch-pad or stack. The algorithm performs an 8-bit XOR, shifting into a 16-bit pseudoCRC result. This is performed independently over each PROM, comparing to the last 2 bytes of each. Also, the PROM levels are compared against each other to assure that they are the same level.

Tests 130/140: Interrupt

These tests do not require functional RAM. Each interrupt channel is stressed by simulating an active input. The processor generates an interrupt acknowledge cycle for each channel and each is verified to occur in proper sequence. This test precedes memory testing so that parity errors are detectable.

Tests 150/160: Memory

These tests verify independent address ability by using a three-pass approach using data patterns 55, AA, and 4F. All locations are written with the pattern prior to writing a new one. All memory pages are tested. These patterns stress both states of the parity bit. The last pattern left in memory, 4F4F, is an Extended Instruction Trap operation code for the Z8000. This causes unexpected program space accesses to be trapped (a fatal error).

Tests 170/180: Paging/Parity

These tests stress several locations, as dictated by bus architecture (typically page address boundaries), for bit access (write/read of a shifting pattern). This includes the parity bit, which is also written in error to generate a parity nonmaskable interrupt (NMI).

Test 190: LMU Floppy Disk Interface

This test exercises the input and output first in, first out (FIFOs) interface between the floppy controller and the processor. The FIFOs are filled to their 1 KB capacities before enabling a diagnostic wrap path. This stresses all FIFO locations in addition to the half full and full status flags.

Test 1B0: LMU Floppy Disk #1 Read Operation

This test assures the reading capability of the 82072/9268 floppy disk controller that accesses Floppy Disk Number 1. After controller initialization, four

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permanently established sectors are read: two sides on two tracks (0 and 79). The data pattern of each512 bytes incrementing and skewed (the second 00 following FF is skipped)is verified. Test sectors on the same cylinder or the same side are compliments of each other, ensuring head selection. A maximum multi-sector read (30 sectors) is attempted and verified with a compare of the last 512 bytes.

Test 1C0: LCU Local-Area-Network Interface

This test verifies control register write/read capability, initialization (requiring it to poll memory), local wrapping of runt packets (undetectable at other nodes), internal DMA capability (the wrapping of messages directly into the various memory pages), and dual LAN arbitration. Failures are indicated if either LAN shows faults or is improperly terminated (the RESET pushbutton allows continuance from these errors).

Test 1D0: LMU Floppy Disk #2 Read Operation

This test assures the reading capability of the 82072/9268 floppy disk controller that accesses Floppy Disk Number 2. After controller initialization, four permanently established sectors are read: two sides on two tracks (0 and 79). The data pattern of each512 byte incrementing and skewed (the second 00 following FF is skipped)is verified. Test sectors on the same cylinder or the same side are compliments of each other, ensuring head selection. A maximum multi-sector read (30 sectors) is attempted and verified with a compare of the last 512 bytes.

Boot Overlay Installation

Completion of these tests leads to the installation of the boot environment as defined by a file list. For the LMU, the Boot Sector (Sector 1, Track 0) is first read (and permanently loaded). Its directory handling functions are then used to find the MB1.TXT file. This file contain the list of filenames and load addresses used in completing the load. Control is transferred to the first address in the list. For the LSM, standard LAN interface protocol must be followed in initiating file downloads. Initially, a REQUEST DOWNLOAD message packet containing flags requesting the boot filelist is sent. An LMU dynamic task then masters the transfer of the list (the SB1.TXT or PHB.TXT file from the functional disk) back to the LSM through RECEIVE DOWNLOAD packets. The filenames found in the list are then individually requested until the boot environment is complete.

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s Powderhorn PROM Diagnostics

Powderhorn PROM diagnostics tests include a ROM display, a parity display, and a RAM display.

ROM Display
The ROM display indicates the initiation of PROM diagnostics. Fault Codes E000 to E0FF could be produced at this time.

PRTY Display
Basic testing of parity logic and LAN hardware on the PLZ card is being performed while this display is active.

RAM Display
The random access memory of the PLZ card is being tested.

s LMU Boot Environment

This environment serves as an extension to the IPL PROM. Additional diagnostics required to test the processors interfaces to external hardware are taken from mass storage. Their purpose is to fully verify hardware required for operational code initialization procedures. This includes the verification of hardware level, compatibility, and their agreement with subsystem configuration information stored on the floppy. In addition to a four-digit display, testing progress and failure information is reported to both maintenance ports (RS-232C) of the LMU device. This is in a limited, dumb-terminal fashion. Also, there is no input capability at the boot level. Operation, in the case of many failures, may be continued by pressing the RESET pushbutton (this feature is not offered remotely). Messages containing certain non-fatal boot diagnostic results are queued for the functional environment. These are processed by the error log manager once initialization is complete. Completion of these tests leads to the installation of the functional environment as defined by the file list contained in the MF1.TXT file. This is done as described previously for the loading of this environment. In addition to the control functions performing the preceding I/O, the LMU boot environment contains the following fault isolation tests.

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Test 210: SCC (Communications) Internal

This test internally wraps both LMU serial communication ports. Status examination verifies readability; wrapping Data Bytes AA and 55 stresses buffering and processor interrupt capability.

Test 230: Timer/Watchdog Timer

This test verifies the functionality of the LMUs 8254 chip, its three internal timers, and their related interrupt signals. The separate watchdog timer hardware is also checked for NMI generation.

Test 250: Real-Time Clock

This test verifies that the 58167 RTC chip accurately counts and interrupts at 10 ms intervals. Tenths, seconds, minutes, hour, day, and month counters are checked for rollover capability. The original time and date is restored.

Test 270: FRU ID Reading

This test dumps all LMU FRU identification circuits. This includes Card Types LA, LI, LB, DC, and the two circuits of the motherboard. In addition, each LC slot, regardless of the number of 3270 ports installed, is dumped. This data is used to validate the LMUs static configuration. Contained in the 16 words of each FRUs 9306 EEPROM are values such as serial number, assembly and EC level. These three values in particular are stored for later diagnostic system use. CRC across the first 15 words distinguishes missing cards from invalid content.

Test 290: Configuration

This test reads the floppy file representing LSM configurations (M_ACHSC.LD2) into memory and examines it to determine whether any entries exist. If not (new functional diskette), an error is reported. This error may be bypassed, and once functional code is loaded and the system is initialized, you can enter the Configuration environment and set up the configuration table to match subsystem requirements.

Test 2B0: LMU Local-Area-Network Interface

This test verifies control register write/read capability, initialization (requiring it to poll memory), local wrapping of runt packets (undetectable at other nodes), internal DMA capability (the wrapping of messages directly into the various memory pages), and dual LAN arbitration.

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Test 2D0: Processor LMUBUS Interface

This test exercises the processor (LA) cards LMUBUS support hardware. The control and data paths are verified out to but not including the actual bus on the LMU motherboard. The Information Out command register is wrapped back to the Information In register using the normal bus cycling of a CPM Request operation (arbitration, transfer, and status phases). Parity is stressed, expecting NACK and Parity Error status. Overrunning the Information In register should result in Module Busy status. The above is repeated for a data transfer. The output 1 KB FIFO is loaded with various data patterns and byte counts. For each pattern, the data is wrapped into the 1 KB input FIFO (using the Data Transfer Request) and verified. Again, NACK, Parity Error, and Module Busy status are stressed.

Test 310: 3274 Interface Wake-up/LMUBUS

Normal wake-up behavior targets all interface modules (IPMs). This test Resets each IPM, forcing them through their internal wake-up procedure. This is a series of tests which verify on-board timers, screen memory, 3270 internal wrap, LMUBUS Information Out to In wrapping, and LMUBUS Data Transfer Out to In wrapping (using the two on-board FIFOs). The LMUBUS is not actually driven until the next step. Following a sufficient time-out, all IPMs are expected to respond with a NOP request to inform the CPM that wake-up status is available. This status is checked for a correct IPM address and no wake-up errors. Data is then wrapped from the CPM through the IPM and back to the CPM. This is followed by a test of the IPMs bad parity detector circuitry. Finally, all IPMs are released from reset simultaneously, checking that they wake-up without bus arbitration errors. A missing response indicates an IPM hung in failure (card edge LEDs would be the only confirmation of this). Following the receipt of the NOP, the IPM is sent a Sense Status command. The IPM is expected to respond with a data transfer (approximately 90 bytes) representing its wake-up status. Failing wake-up status results in a fault symptom code display. The next step checks each IPMs ability to send an Information Out-type transaction. The CPM sends a NOP command; the IPM sends a NOP request in response. The CPM then issues a NOP command with bad parity in the module address and expects the IPM to respond with a NACK status. Next, a NOP command issues to the IPM with bad parity in the data of the command byte, and the IPM is again expected to respond with NACK status. Normal communication is then established with a good NOP command.

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The next phase tests the IPMs input and output FIFOs and screen memory wrap. A data pattern is built and sent to the IPMs input FIFO. The IPM moves this to Receive Screen Memory and the IPM's FIFO status is verified to be correct. A Send Screen to Host command is then issued by the CPM. Because the 3270 interface is not enabled, the IPM moves the memory to its Transmit Screen Memory and then to its output FIFO. A 3270 FIFO Ready request is received from the IPM, and the IPMs FIFO status is verified. The CPM issues XFER FIFO to CPM and the data is received and verified to be the same as that which was sent. Next, the IPM is tested with a FIFO wrap as before, but with a byte of bad parity in the FIFO data. When the IPM receives the FIFO with bad parity, it responds with an IPM Detected Error, and the FIFO status reflects bad parity. All of the preceding testing procedure is repeated for all installed IPMs. The last phase of testing is the IPM Arbitartion. This is tested by first generating a list of the installed IPMs, then enabling all of them simultaneously. As their wake-up tests are completed, they each attempt to take the bus to issue a no operation (NOP) to the CPM. As each NOP is received, the sending IPM is checked off the installed list. When no more NOPs are received, the installed list is verified to be empty.

s 4400 LSM Boot Environment Tests

The LSM boot environment is retrieved using the LAN interface. Its behavior is identical, from your standpoint, to that described above for the LMU boot. Error information is displayed and sent to the LMU for logging. Fault codes used by the 4400 LSM boot environment are in the range D200D32F.

Test 200: SCC (Communications/Cartridge Drive) Internal

This test internally wraps all six serial communication ports. This includes the maintenance/utility interface ports and the four used for CD communication. Status examination verifies readability; wrapping Data Bytes AA and 55 stresses buffering and processor interrupt capability. All port drivers are disabled during this test so as not to impact terminals or CDs.

Test 220: Basic REI/REI Write

This test performs an initial test of the remote electronics interface (REI). A rotating/alternating walking 1s/0s pattern and the Patterns 00, FF, AA, and 55 are written to one register in each of the REI cards (LU, LV, both LN, and both LO) and selected LCU cards (LX, LW, and LQ).

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Test 240: Timer/Watchdog Timer

This test verifies the functionality of the LSMs 9513 microchip and its five internal timers. The related interrupt signals are also stressed.

Test 260: FRU ID Reading

This test dumps all LSM FRU identification circuitsboth LCU and REI. Within the LCU this includes Card Types LZ, LY, LW, LR, LQ, DX (power supply), both slots reserved for pass-thru port drivers, and the two circuits on the motherboard. FRU ID content of the REI is then dumped. This includes the LU, LV, two LNs, two LOs, LS, and two on the motherboard. Contained in the 16 words of each FRUs 9306 EEPROM are values, such as serial number, assembly, and EC level. These values are stored for latter diagnostic and functional system use. CRC across the first 15 words distinguishes missing cards from invalid content.

Test 280: Parity

This test checks parity on all cards, excluding the LZ card. Testing entails changing the parity on the bus and on the cards being tested.

Test 2A0: FRU Configuration

This test verifies that the installed LSM hardware FRU ID contents (stored globally by the preceding test) match what is contained in battery-backed storage. Serial number matching is expected. If a difference is found, a FRU change is flagged for functional code (initialization may result in a full recalibration).

Test 2C0: REI Basic Servo Control

Testing, at this time, is limited to non-motion capability. Primarily, this involves the stressing of position detection hardware using a synthesized two-phase tach encoder input. All servos are tested: Theta, Z, Wrist, and each redundant reach and roll. Pass-thru Ports (PTPs) 0 and 1 are tested, if installed. The finger servo (a stepper) is tested strictly for legitimate disabled status.

Test 2E0: DAC/ADC

This test checks the path from the digital-to-analog convertor to the analog-todigital convertor on the following cards: LX, LW, LU, LV, LO, LN, LQ, and LP, if installed. The DAC is ramped from 0 to FF, and the output of the ADC is verified to be within acceptable limits.

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Test 300: Camera Control/DMA

This test writes the 64 KB camera memory (previously verified using the processors address/data path) through the cameras DMA port. At first, this is done with a synthesized horizontal sync; data is simulated with a shift register. Two syncs (using one data pattern) fill camera 0s 32 KB area. This is repeated for Camera 1 (still using the synthesized video signals), writing the other 32 KB area. Independent memory access is verified. Now actual camera input is used. Extreme level shift adjustment is expected to result in an all-white then all-black memory content. There is no dependence on actual camera vision at this time. Fault isolation occurs only after the use of both camera outputs. Missing video signals can then be distinguished from shared analog circuitry problems.

Test 320: CAP/Door Solenoid Sensing

This test verifies the current sensing associated with the CAP, access door, and has-been-opened (HBO) solenoids. A short current pulse, small enough not to disturb any solenoid, is used to produce the nominal or overcurrent status.

Test 340: Temperature/Voltage ADC

This test verifies the following ranges on the various temperature and voltage analog-to-digital channels. Failures can be bypassed, but subsequent environmental monitor logging or fatal errors may result. The ranges include a measurement hardware tolerance of +3 percent for voltages and +6 percent for temperatures. This testing is disabled for LSM (REI) serial numbers less than 490. Table 2-1. RS-232 Port Functions Channel LX-voltages 0 1 2 5 6 Name LCU +5 TEMP SENS 2.5 SENSOR +5 ADC2 REF +5 REF 2.5 Allowed Range Minimum 4.23 2.39 4.23 4.23 2.39 Maximum 5.28 2.61 5.28 5.28 2.61

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Table 2-1. RS-232 Port Functions (Continued) Channel LX-temperatures 0 1 2 4 5 LW-voltages 0 1 2 5 LQ-temperatures LU-voltages 7 0 1 2 3 LU-temperatures 0 1 2 Name INTERIOR 1 INTERIOR 2 FAN INTAKE LX AIR FLOW LX HOT SPOT CAMERA +13 CAMERA -13 CAMERA +5 ADC1 +5 LQ HOT SPOT REI +35 REI +12 REI -12 REI +5 Allowed Range Minimum 15C (59F) 15C (59F) 15C (59F) 15C (59F) 15C (59F) 12.0 -12.0 4.75 4.75 20C (68F) 28.2 11.1 -11.1 4.87 Maximum 41C (106F) 41C (106F) 41C (106F) 41C (106F) 41C (106F) 15.0 -15.0 5.26 5.26 82C (180F) 42.2 13.1 -13.1 5.18 41C (106F) 41C (106F) 41C (106F)

REI CARD CAGE 15C (59F) REI FAN LU HOT SPOT 15C (59F) 15C (59F)

s Powderhorn LSM Boot Environment Tests

The displays POLL, DLxx, and EXxx indicate the downloading and expansion of the boot diagnostic load. Faults occurring during this time will be in the range E000 to E0FF. The BOOT display indicates the initiation of boot diagnostics. DGxx then represents that a particular test is executing as described below. Fault codes that may be displayed will be in the range E100E7FF.

DG00: Interrupts
Interrupt controlling testing includes NMI and vectored interrupt handling.

DG01: Basic Communications

Interfaces between the PLZ and other cards (CLX, PLQ, PLS0, PLS1, and PLW) is verified.

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DG02: LCA Programming

The logic cell arrays (LCA) on the PLQ and the two PLS cards are programmed and verified.

DG03: FRU ID Reading

The FRU identifications of all LSM cards are read and saved. Missing, nonoptional cards and invalid FRU information will result in an error code display.

DG04: FRU Configuration

The hardware and software compatibility of all installed cards is checked to be appropriate for the current code level.

DG05: Parity Errors

The parity error detection hardware is verified on the CLY, CLW, CLX, CLPs, PLSs, PLQ, and CMZ cards.

DG06: Basic PTP/CEM Control

Basic testing of the CLP cards includes control and simulated tachometer circuit functionality. The mechanism is not moved.

DG07: Vision Interface

Operation of PLW direct memory access transfers is verified.

DG08: ADC Operation

Analog-to-digital conversion on the CLX, PLW, and CLP cards is verified by wrapping a processor loaded DAC back though an ADC channel (complete range tested). The PLS cards verify against a local reference voltage and the PLQ against the 100V supply.

DG09: Temperature/Voltage ADC

Temperature and voltage ADC readings are verified on the CLX, PLW, PLQ, and PLS cards. These values are expected to be within a nominal range.

DG10: Standard Door

All door interlock signals are expected to indicate closed. If not, the Close Door message scrolls and, if not acted upon within five minutes, an error displays. This test is skipped if a clipper door is installed.

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DG11: Standard Door Solenoids

Solenoid control is tested by sensing current, not changing solenoid states. This test does not apply to a clipper door.

DG20: Clipper Door

This test behaves like DG10 but applies only to clipper door models.

DG21: Clipper Door Solenoids

This test behaves like DG11 but applies only to clipper door models.

DG22: Clipper CMZ Card

CMZ card testing includes control and display memory only. This test is skipped on non-clipper models.

s Inline Test Overlays

This section details the tests available at the higher, operational level of the subsystem (inline). These require functional code activity and are invoked through the Standard (STD) environment. The test set is organized by sections. Their IDs start at 400 to avoid conflicting with the non-user-entered tests executed at IPL-time by the PROM and boot level activities. The Inline Test Overlays section describes the individual test scope, run-time options, and requirements. Figure 2-2 lists the diagnostic routines available to you through the interactive system. These are loaded from mass storage by the STD transient environment. These tests have specific resource requirements allowing some degree of inline capability (the sharing of a resource so that customer operations may continue). In most cases, this involves the sharing of LMU processor time (fairly insignificant) while accessing a Maintenance mode LSM (a state entered using the SE(lect) command). Table 2-2. Inline Tests (Standard Environment) Test Number Diagnostic Test Title

Section 400LSM Initialization 410 420 430 440 Roll Initialization Wrist Initialization Reach Initialization Finger Initialization

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Table 2-2. Inline Tests (Standard Environment) (Continued) Test Number 450 470 480 Diagnostic Test Title Z Initialization Theta Initialization Pass-thru Port (PTP) Initialization

Section 500LSM Motions 510 520 530 550 560 580 5D0 5E0 5F0 Roll Motions Wrist Motions Reach Motions Z Motions Theta Motions Pass-thru Port Motions Roll-Wrist Concurrent Motions Roll-Wrist-Z Concurrent Motions Roll-Wrist-Z-Theta Concurrent Motions

Section 700Vision Tests 710 730 750 Vision Targeting Vision Volume Serial Number (VOLSER) Vision Expanded Readability Test (ERT)

Section 800Functional Operation 810 820 830 Cartridge Move Operations Mount/Dismount Operations Swap Operations

Section 900Special Coverage 910 Pass-thru Port Loading

Section E00Extended Duration E20 Extended Cartridge Motion

Section F00Manual Intervention F10 F30 F50 F60 F70 LMU Floppy Verification LSM Access Door Interlock LSM 21-Cell Cartridge Access Port (CAP) Interlock LSM 81-Cell CAP Door Interlock LMU 3270 Interface Wrap

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Table 2-2. Inline Tests (Standard Environment) (Continued) Test Number F90 FB0 FE0 FF0 Diagnostic Test Title LMU 3270 Terminal Control Unit Status LSM Transport Communications LSM Array Tilt Utility LSM Panel Alignment Utility

Section 400: LSM Servo Initialization

Section 400 covers LSM mechanism initialization. You must select at least one LSM. Minor servo motion is performed; no cartridges or transports are required. These test drivers execute primarily in LSM firmware space. Mechanism control problems result in the display of deciphered LSM event buffer data (see Chapter 7, Error Log Environment, for an explanation of its content). Options are available for you to modify test behavior. When issued with the RU(n) command, the PA-xxxx option allows individual selection of redundant mechanisms (roll, reach, and so on). This may be helpful when the looping of a marginal mechanism is desired. The XP(rint) entry allows informational output. Due to certain testing prerequisites, the tests in this section must be executed in their given order. No damage will result if a test is executed out of order, but each may depend on successful initialization of a mechanism by a prior test. These situations are described below for the specific mechanisms. These tests leave the target LSM in a non-initialized state regardless of test outcome. If the customer attempts to use the SDE de-selected LSM (offline), it results in a Not Ready status. LSM re-initialization is automatic with the next execution of an 800 or higher test. The customer may use an LSM passing a test at that level.

Test 410: Roll Initialization

This test performs standard roll sensor initialization and reports faults. Reach is attempted to be moved to the safe position if it is not already there. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

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Test 420: Wrist Initialization

This test performs standard wrist sensor initialization and reports faults. Reach is attempted to be moved to the safe position if it is not already there. Run-Time Options: PA-x Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only, for Powderhorn only). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 430: Reach Initialization

This test performs standard reach sensor initialization and reports faults. Wrist is attempted to be moved to the reach-initialization position prior to testing and can cause test failure. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 440: Finger Initialization

This test performs standard finger sensor initialization and reports faults. If a closed/open sensor is detected, the stepper mechanism is driven in the opposite direction. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 450: Z Initialization

This test performs standard Z sensor initialization and reports faults. Reach is attempted to be moved to the safe position if it is not already there.

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Run-Time Options: PA-x

Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only, for Powderhorn only). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 460: Theta Initialization

This test performs standard theta sensor initialization and reports faults. Reach is attempted to be moved to the safe position if it is not already there. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 470: Camera/Lamp Initialization

This test performs standard camera/lamp initialization and reports faults. This is currently a lamp current feedback check only. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 480: PTP/CEM Initialization

This test performs PTP/CEM initialization and reports any faults. It is driven by the target LSMs configuration: testing verifies that LP (4420 PTP)/LPP (9320 CEM) cards are installed only where appropriate. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (PTP 0 only) or 1 (PTP 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

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Section 500: LSM Motions

Section 500 testing involves the stressing of motion control using various degrees of mechanism concurrency and distance of travel. A selected and initialized LSM is required. No cartridges or transports are used. These tests execute primarily in LSM code space. They invoke specialized motion drivers available only while an LSM is in Maintenance mode. They are intended to stress the different servo algorithms applied as the move distance changes. These distances are taken from functional servo control tables and are subject to change with each software release. The drivers return the servo information normally suppressed by functional code. Mechanism control problems will result in the display of deciphered LSM event buffer data (see Chapter 7, Error Log Environment, for an explanation of its content). In addition to standard motion control errors, these tests detect improper mechanism statistics (see Drag, Dither, and Position Error performance indicators described in Status Command in Chapter 12, Utility Environment). Options are available for you to modify test behavior. When issued with the RU(n) command, Run-Time Option PA-xxxx allows individual selection of redundant mechanisms (roll, reach, and so on). This may be helpful when the looping of a marginal mechanism is desired. The XP(rint) entry allows informational output.

Test 510: Roll Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. After motions toward both crash stops, seven motions of varying length are attempted. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: There are no special requirements other than selecting the appropriate target LSM (setting Maintenance mode).

Test 520: Wrist Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. After motions toward both crash stops, six motions of varying length are attempted.

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Run-Time Options: PA-x

Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only, for Powderhorn only). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: This test assumes that wrist and reach have been initialized (see Test 420: Wrist Initialization and Test 430: Reach Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 530: Reach Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. After motions toward both crash stops, three motions of varying length are attempted. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: This test assumes that wrist and reach have been initialized (see Test 420: Wrist Initialization and Test 430: Reach Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 550: Z Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. After motions toward both crash stops, 16 motions of varying length are attempted. Run-Time Options: PA-x Single mechanism selection, where: x is 0 (Hand 0 only) or 1 (Hand 1 only, for Powderhorn only). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: This test assumes that Z and reach have been initialized (see Test 450: Z Initialization and Test 430: Reach Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

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Test 560: Theta Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. After motions toward both crash stops, 16 motions of varying length are attempted. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: This test assumes that Theta and Reach have been initialized (see Test 460: Theta Initialization and Test 430: Reach Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 580: PTP/CEM Motions

This test executes a series of moves using distance values near boundary points in the mechanism control tables. For 4420 PTPs, motions toward both crash stops are done and then three motions of varying length are attempted. For 9320 CEMs, motion toward the master side begins until a stall is detected. The tachometer is set to 0 and the push bar move towards the slave side until another stall is detected. If the tachometer count for the second move is within a predetermined range, this count is used for the end stop on the slave side. Run-Time Options: PA-x XP(rint) Single mechanism selection, where: x is 0 (PTP 0 only) or 1 (PTP 1 only). Extended print, which prints informational messages and test status data.

Test Requirements: This test assumes that PTP/CEM has been initialized (see Test 480: PTP/CEM Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 5D0: Roll-Wrist Concurrent Motions

This test looks for unwanted interference between mechanisms as they are executing concurrent moves. Moves are issued causing the mechanisms to travel just within the crash stops. Both long and short moves are executed. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

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Test Requirements: This test assumes that both roll, both reach, and the wrist mechanisms have been initialized (see Test 410: Roll Initialization, Test 430: Reach Initialization, and Test 420: Wrist Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 5E0: Roll-Wrist-Z Concurrent Motions

This test looks for unwanted interference between mechanisms as they are executing concurrent moves. Moves are issued causing the mechanisms to travel just within the crash stops. Both long and short moves are executed. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: This test assumes that both roll, both reach, wrist, and Z mechanisms have been initialized (see Test 410: Roll Initialization, Test 430: Reach Initialization, Test 420: Wrist Initialization, and Test 450: Z Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Test 5F0: Roll-Wrist-Z-Theta Concurrent Motions

This test looks for unwanted interference between mechanisms as they are executing concurrent moves. Moves are issued causing the mechanisms to travel just within the crash stops. Both long and short moves are executed. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: This test assumes that both roll, both reach, wrist, Z, and theta mechanisms have been initialized (see Test 410: Roll Initialization, Test 430: Reach Initialization, Test 420: Wrist Initialization, Test 450: Z Initialization, and Test 460: Theta Initialization) and that the appropriate target LSM has been selected (setting Maintenance mode).

Section 700: Vision Tests

Section 700 testing exercises the 4400 LSM functional vision system. You are able to repeatedly target, repeatedly read the VOLSER, or target or read a VOLSER over a range of video control threshold (VCT) and lamp values. At present, only vision test 750 is supported on the 9310 LSM. Section 700 testing requires LSM selection and thus the placing of the LSM into Maintenance mode. It is necessary that the LSM be initialized; the 700 level tests

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will not perform any initialization. These tests do no movement or placement of cartridges. Any required cartridge positioning must be accomplished by you through other means. You must ensure the existence of a target or VOLSER at a particular location depending on the test to be run. Options are available for you to modify test behavior. If Tests 710 and 730 are run without a PA option setting (as they are in RUN,ALL) the tests do not prompt you for any information but conduct default vision testing against the LSM calibration plate. Test 750 is normally skipped in a RUN,ALL pass because of its long run time. Each vision test will allow selection of such things as hand and location, when executed with Run-Time Option PA-0001. See each test description for a complete list of run-time options and the options and the information that will be requested from you. The Vision Tests 710, 730, 750, are in order of simplest to most sophisticated; however, the vision tests do not have to be executed in any given order. Run Test 710 if targeting is suspect. Run Test 730 if the VOLSER reading is suspect, and run Test 750 if some suspicion applies to the vision system, but Tests 710 and 730 pass.

Test 710: Vision Targeting

This test allows you to iteratively target on any valid LSM cell location. The calibration plate and panel calibration IDs are valid cell locations. No cartridge need be present to target a cell. This test will be included in the RUN,ALL set of tests and executed without run-time options. In this case, without Run-Time Option PA-0001, the iteration count on the target defaults to 1, the target location defaults to the calibration plate, and both hands are used once. No prompting for information occurs. You will be prompted for the hand, location, and number of times (132767) to target on that location when this test is individually executed with the Run-Time Option PA-0001. The defaults for hand (0), location (Cell 000607), and number times to target (1) are given in the prompt text and are used, for any particular parameter, if you enter a <carriage return> without specifying a value. The target location is specified by you, for a particular cell type, as shown in Table 2-3: Table 2-3. Target Location Specification Cell Type Cell CAP DRV PTP PLYG panel cap-id panel 0 0 Position (6-digit) row row drv # ptp # 0 col col 0 slot # col Description Regular cell Cartridge access port Drive slot Pass-thru port Playground

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To specify a particular diagnostic cell, for example, you would enter Cell 100000 and targeting would occur at Panel 10, Row 0, and Column 0. Note: It requires approximately 4 minutes to target 100 times. A <Ctrl-C> terminates 710 testing both in response to prompts and during actual targeting. The <Ctrl-C> ends diagnostic 710 screen output, but not output to the diagnostic log. In the event of <Ctrl-C> during actual targeting, the test result summary will be written to the diagnostic log (but not to the screen). The test result summary contains the number of targeting successes, failures, and the first three unique FSC codes encountered in testing. Run-Time Options: PA-0001 The user is prompted for hand, cell location, and times to target that location (or else, no prompting). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: A drive to be targeted must be unloaded. An LSM must be selected (in Maintenance mode) and fully initialized. The LSM must match the LMUs static configuration. Note: This test is only supported for the 4410 LSM.

Test 730: Vision VOLSER Read

This test allows you to iteratively read the VOLSER and/or media label at any valid LSM cell location. The calibration plate and panel calibration IDs are valid cell locations. A cartridge must be present in the cell location, except for the calibration plate and panel calibration IDs. This test will be included in the RUN,ALL set of tests and executed without run-time options. In this case, without Run-Time Option PA-0001, the iteration count on the VOLSER read defaults to 1, the cell location defaults to the calibration plate, and both hands are used once. Also, without PA-0001, the calibration plate VOLSER and media label read are compared against the actual values of P CAL and 1 respectively. Valid media label characters are 0->9 and A->Z. Refer to the StorageTek Media/ Drive Compatibility Guide for more information valid media label characters. You will be prompted for the hand, cell location, number of times (132767) to read the VOLSER/media label, the actual VOLSER expected, and the actual media type expected when this test is individually executed with Run-Time Option PA-0001. Comparisons of the VOLSER and media type read with your entered values will be performed and notify you of comparison mismatches. Omission (you enter <RETURN>) of VOLSER, media type, or both will result in no comparison performed for the respective value. Note: A VOLSER must be six characters in length. Remaining characters are blank filled if less than six VOLSER characters are entered. The defaults

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for hand (0), cell location (Cell 000607), and number times to read (1) are given in the prompt text and are used if you simply enter a <carriage return> without specifying a value. The VOLSER location is specified by you, for a particular cell type, as shown in Table 2-3 on page 2-21. It requires approximately four minutes to read 100 times. A <Ctrl-C> terminates 730 testing both in response to prompts and during actual reading. The <Ctrl-C> ends Diagnostic 730 screen output but not output to the diagnostic log. In the event of <Ctrl-C> during actual reading, the test result summary will be written to the diagnostic log (but not to the screen). The test result summary contains the number of VOLSER read successes/failures, number of VOLSER match/mismatches, number of media label match/ mismatches, and the first three unique FSC codes encountered in testing. Run-Time Options: PA-0001 The user is prompted for hand, cell location, and times to read that cell location (or else, no prompting). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: A drive to be read must be unloaded and a cartridge present. An LSM must be selected (in Maintenance mode) and fully initialized. The LSM must match the LMUs static configuration. Note: This test is only supported on the 4410 LSM.

Test 750: Vision Expanded Readability Test

This test allows you to read the VOLSER at any valid LSM cell location over a predetermined range of VCT and lamp values. In the future, targeting a cell over a range of VCT and lamp values will also be supported. At each VCT/lamp setting the VOLSER is read three times. The calibration plate and panel calibration IDs are valid cell locations. A cartridge must be present at the cell location, except for the calibration plate and panel calibration IDs. Note: Although the 700-level tests are included in the RUN,ALL set of tests, Test 750 is not executed without explicit run-time options because of the test time length (see the following for actual time values). Two ranges of VCT and lamp values exist over which the expanded readability test (ERT) can be conducted. The minimal range, (VCT6F to FF, Delta 8, lampBF to FF, Delta 8) is the default range, and is used if the extended run flag (XRUN) is not set. A more complete VCT and lamp range (VCT07 to FF, Delta 8, lamp6F to FF, Delta 8) is used if the extended run flag is set. The barcode ERT pass/fail is determined from the results of reading over the minimal range (whether full or minimal range is used). Three sections (lamp BF to CF, DF to F7, and FF) of this minimal range have been identified and

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minimum successful read percentages have been established for each section. Should any section percentage of successful reads not exceed the predetermined minimum, the ERT fails. The pass/fail criteria for the target ERT have not yet been determined. You will be prompted for the hand, cell location, and the ERT type when this test is individually executed with Run-Time Option PA-0001. The ERT type is either barcode (VOLSER read) or target. The defaults for hand (0), cell location (CELL 000607), and ERT type (0 is barcode) are given in the prompt text and are used if you enter a <carriage return> without specifying a value. You specify the location, for a particular cell type, as given in Table 2-3 on page 2-21. Note: It requires approximately 12 minutes to perform the barcode ERT, using a single hand, over the minimal VCT and lamp range and 45 minutes over the full range. Test output consists of writing initial control parameters such as start, end, and delta VCT and lamp values to the screen and diagnostic log. In addition, the ERT matrix, a matrix made up of the number of successful reads at each lamp/ VCT setting, is written to the screen and diagnostic log. Also, the percentage of successful VOLSER reads over each test section is reported for the barcode ERT test. A <Ctrl-C> terminates 750 testing both in response to prompts and during actual reading. The <Ctrl-C> ends Diagnostic 750 screen output and only the test status array is written to the diagnostic log. Appendix C, Vision Diagnosis Examples, contains the barcode ERT analysis methodology. The target ERT matrix analysis methodology is TBD. Run-Time Options: PA-0001 The user is prompted for hand, cell location, and ERT type. The test is not executed without this option set due to test time length. Extended run, which uses full VCT/lamp range (or else, uses minimal). Extended print, which prints informational messages and test status data.

XR(un) XP(rint)

Test Requirements: A drive cartridge to be read must be unloaded (and a cartridge present if barcode ERT). An LSM must be selected (in Maintenance mode) and fully initialized. The LSM must match the LMUs static configuration. Note: This test is supported on both the 4410 and 9310 LSMs.

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Section 800: Functional Operations

Section 800 testing requires LSM selection (Maintenance mode). It is not necessary that the LSM be initialized; the tests will perform this function if needed. The LSM must match the LMUs static configuration. LMU functional code is accessed to perform moves, mounts, dismounts, and swaps in a fixed order. These tests operate at the highest level of internal software hierarchy. Host-type error packets are displayed if problems are detected. They resemble errors reported by the customer. Basic motion control problems are not isolated at this level (see Section 400: LSM Servo Initialization and Section 500: LSM Motions). Only non-customer diagnostic cartridges and cells are used. The number of transports required is dependent on the particular test. They may be in any state (online/offline but communicating). Four diagnostic cartridges must be installed in each drive panel of the target LSM. The first drive panel (clockwise from door) must have Cartridge 0 (VOLSER DG_000) in the upper left cell position; Cartridge 1 is to its right. Cartridge 2 is in the bottom left cell; Cartridge 3 is to its right. Each subsequent drive panel has continuing VOLSERs (DG_004 to DG_015) in similar cell positions.

Test 810: Cartridge Move Operations

This test moves drive panel resident diagnostic cartridges to interior wall locations (the destination panels are established to be approximately 180 degrees from the source panel). This places most mechanisms (excluding roll) in a long-distance mode of travel. All cartridges on a given drive panel are moved from and returned to their original cells in sequence. Diagnostic cartridge VOLSERs are verified on each GET action. Hand usage changes after each move (first GET is with Hand 0). You may also specify an individual move through the PARM option.

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Run-Time Options: PA-hcpf

Single move out/in request, which takes precedence over XR option, where: h is the hand to be used (01) c is the diagnostic cartridge (0F, where 0-3 is the first drive panel, 47 is the second drive panel, and so on) p is the destination panel (0F) f is the free cell ID (01). Extended run, which uses all available diagnostic cartridges. Extended print, which prints informational messages and test status data.

XR(un) XP(rint)

Test Requirements: The destinations used for moves are cell locations Row 5, Column 9, and Row 8, Column 10 of the inner panels. If you specify an individual move to an outside panel, the upper-most row (Column 11) and lowest row (Column 12) are used. These cells must be empty. Diagnostic cartridges must be located as described in Section 800: Functional Operations.

Test 820: Mount/Dismount Operations

This test performs mount/dismount sequences (using diagnostic cartridges) to all unloaded and communicating transports in the LSM. Status of each transport is retrieved before the mount/dismount attempt. If no transports are available in the LSM then a warning message is printed. The XP(rint) option shows the results of transport communications. Diagnostic cartridge VOLSERs are verified on each GET action. Hand usage changes between the mount and dismount operations (first GET is with Hand 0). You can also specify an individual mount/dismount through the PARM option. Run-Time Options: PA-hcxd Single mount/dismount request, where: h is the hand to be used (01) c is the diagnostic cartridge (0F, where 0-3 is the first drive panel, 47 is the second drive panel, and so on) x = Ignored, but must be a number (0F) d = Drive on same panel (03). Extended run, which uses all available diagnostic cartridges. Extended print, which prints informational messages and test status data.

XR(un) XP(rint)

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Test Requirements: The drives used as mount destinations must be ready and able to communicate with the LCU. They must be unloaded. Diagnostic cartridges must be located as described in Section 800: Functional Operations. Note: The x in PA-hcxd must be a number; otherwise, the test yields unexpected results and might not post an error.

Test 830: Swap Operations

This test performs a mount/swap/dismount sequence using a diagnostic cartridge and all the available transports on the same drive panel. The test is performed on all of the panels with two or more available transports on the same drive panel. If a pair of transports is not found on any of the panels then a warning message is printed out. The XP(rint) option shows the results of transport communications. Diagnostic cartridge VOLSERs are verified on each GET action. Hand usage changes between swap and final dismount operations (GET of cartridge from cell is always with Hand 0). You can also specify an individual swap through the PARM option. Run-Time Options: PA-hcab Single swap request, where: h is the hand to be used (01) c is the diagnostic cartridge (0F, where 0-3 is the first drive panel, 47 is the second drive panel, and so on) a is the drive on same panel (03) b is the drive on same panel (03). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: The drives used as swap destinations must be ready and able to communicate with the LCU. They must be unloaded. Diagnostic cartridges must be located as described in Section 800: Functional Operations.

Section 900: Special Coverage Tests

Section 900 contains tests covering areas not dealt with in Section 400: LSM Servo Initialization, Section 500: LSM Motions, Section 700: Vision Tests, and Section 800: Functional Operations. They perform actions not normally available to a customer, such as movements ending in a pass-thru port. Note: LSM selection and cartridge requirements are as in Section 800: Functional Operations.

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Test 910: Master PTP/CEM Load Test

This test invokes functional code to control the movement of one diagnostic cartridge (9320) or up to four diagnostic cartridges (4420) to all CEM/PTPs mastered by the target LSM. Once loaded, the CEM/PTP transfers the cartridge(s) to the opposite side of the CEM/PTP. The CEM/PTP then transfers the cartridge(s) to the source side of the mechanism and the cartridge(s) are returned to their source cell(s). CAUTION: When Test 910 is invoked, it selects all available PTP/CEMs for the devices selected. Only the LSM controlling the master side of the PTP/ CEM is required to be offline in order to run 910. If you want to run the test on only a particular PTP/CEM, you must select that PTP/CEM by entering the xr (extended run) option; the microcode prompts you to select a loop count and PTP/CEM selection. Although functional code controls much of the preceding behavior, these actions are not requested like the host-level 800 series diagnostics. Paths specified for the cartridges are incomplete (no destination beyond the PTP/ CEM). Motion retry and cartridge recovery is similar, however. LSM response packets contain an event buffer approach to detailing mechanism status. If any operation should fail, this buffer is analyzed and explained to you (it is also saved in the diagnostic log; see Chapter 7, Error Log Environment). Run-Time Options: PA-0001 PA-0002 PA-0003 XP(rint) Start with Hand 1 (rather than Hand 0). Skip the VOLSER comparison. Both of the above. Extended print, which prints informational messages and test status data.

Test Requirements: This test requires a configuration matching LSM in Maintenance mode (selected). It need not be fully initialized; the test will do this. Diagnostic cartridges must be located as described in Section 800: Functional Operations.

Test 920: Slave PTP/CEM Load Test

Note: Due to the increased functionality of Test 910 (the ability to select either master or slave PTP/CEMs), Test 920 is no longer accessible.

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Section E00: Extended Duration

Section E00 testing is not part of the normal RUN,ALL package. Long run times make these tests more valuable for quality assurance (initial install or service follow-up) than for fault isolation. Note: LSM selection and cartridge requirements are as in Section 800: Functional Operations.

Test E20: Extended Cartridge Motion

This test moves a single diagnostic cartridge (DG_000) through all diagnostic free cells (approximately 36). This includes all exterior and interior panels except drive panels (which contain the cartridge home locations). This results in a total range of motion on all robotic mechanisms except the PTPs and roll (no drive orientation is needed). The diagnostic cartridge VOLSER is verified on each GET action (unless overridden by you). Hand usage changes every two GETs and PUTs. You can also specify initial hand usage through the PARM option. This test operates at the highest level of internal software hierarchy. Host-type error packets are returned through the test status area and identified as such. This allows the monitors invocation of an error processing function decoding the host-equivalent error indications for you. Basic motion control problems are not isolated at this level (see Section 400: LSM Servo Initialization and Section 500: LSM Motions testing). Run-Time Options: PA-0001 PA-0002 PA-0003 XP(rint) Start with Hand 1 (rather than Hand 0). Skip the VOLSER comparison. Both of the above. Extended print, which prints informational messages and test status data.

Test Requirements: This test requires a configuration matching LSM in Maintenance mode (selected). It need not be fully initialized; the test will do this. Diagnostic Cartridge 0 (VOLSER DG_000) must be installed in the upper-left cell of the first drive panel of the target LSM. All diagnostic free cells (two locations in each non-drive panel) must be empty.

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Section F00: Manual Intervention

Section F00 testing is not part of the normal RUN,ALL package. These tests are deemed manual-intervention diagnostics requiring operator assistance. They are required for quality assurance at initial install or post-modification time only.

Test F10: LMU Floppy Verification

This test verifies that every file of the supplied disks can be successfully read without error. Floppy disk drives are accessed in the order of FDD 1 first, FDD 2 second. If either drive is empty, the test continues. This gives you the ability of testing just one diskette in either drive. If both drives are empty, a Not Ready error returns. If a media read error is detected, this test reports the filename and filetype of the failing read access. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: A test floppy must be installed. No selection is required.

Test F30: LSM Access Door Interlock

This test requires you to check the condition of panel lights, unlock, open, and close the door, and so on. There is a maximum time-out of 1 minute when waiting for these actions. The hardware controlling the access door and indicators is tested, both with software and by you/operator visually checking the indicators. The closed, seated, and HBO door sensors are checked for proper operation as well as the key door open switch and the CSE override switch. The instructions for running the test are presented on the monitor screen. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test F50: LSM 21-Cell CAP Door Interlock

This test requires you to check the condition of panel lights, unlatch, open, and close the door, and so on. There is a maximum time-out of 1 minute when waiting for these actions. The hardware controlling the CAP status panel and the CAP locking and sensing mechanisms is tested, both with software and by you or the operator visually checking the indicators. The instructions for running the test are presented on the monitor screen. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: This test requires a fully initialized and configuration matching LSM in Maintenance mode (ready and selected). The access door must be a 21-cell door.

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Test F60: LSM 81-Cell CAP Door Interlock

This test requires you to check the condition of panel lights, unlatch, open, and close the doors, and so on. There is a maximum time-out of 1 minute when waiting for these actions. The hardware controlling the CAP status panel and the CAP locking and sensing mechanisms is tested, both with software and by you or the operator visually checking the indicators. The instructions for running the test are presented on the monitor screen. Run-Time Options: XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: This test requires a fully initialized and configuration matching LSM in Maintenance mode (ready and selected). The access door must be an 81-cell door. Note: When running this diagnostic, the display may be in a blanked state. This state means that the display will not be refreshed for the first question. If there is cause to verify what is on the display, the following should be performed provided there is no pushbutton to manually refresh the display: Answer yes to the initial question. Subsequently, the CAP unlocks and the display refreshes. Exit the test by pressing <Ctrl-C>. Rerun the test, verifying the initial display.

Test F70: LMU IPM External Wrap Test

This test wraps data from one IPM to another through a coaxial wrap cable. This is done by special software in the IPM which allows one of the selected IPMs to emulate a terminal controller. This IPM is referred to as the terminal emulator or the master IPM. The other IPM is referred to as the slave or test IPM. Upon execution of the test, the input parameters (PA-xxxx) are checked for validity. Also checked is that the LA cards software compatibility is sufficient, that the requested LCs are installed, and that they are at a sufficient software compatibility level. The status of the IPMs is then checked to ensure that no IPL errors occurred in the IPMs themselves and that the IPMs are in a Poll Time-out state (not actively communicating with a terminal controller). This prevents running the test against an IPM communicating with a host. It does not, however, ensure that the requested IPMs were cabled together correctly. Next, the IPM of the first input parameter is put into the Master mode. A special diagnostic data string is then transmitted out the master to the slave. The IPM

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receiving the data sends it to the LMU bus where it is received and returned to the test and compared to the data that was originally transmitted. The receiving IPM is then checked to make sure it is the proper slave IPM. If cabled incorrectly, an unexpected IPM receives the data and an error to that effect is reported. The data is identified as diagnostic data and returned to the test regardless of the IPM that receives it. Next, the diagnostic data string is transmitted from the slave to the master. The data is received from the LMU bus and checked for accuracy and that the source was the master IPM. The test then reverses the input parameters and repeats the above process. Run-Time Options: PA-xxyy This is actually required input, where: xx is the initial master IPM (19,1016) yy is the initial slave IPM (19,1016). For example, to wrap IPM 4 to IPM 13, enter, RUN F70 PA-0413 XP XP(rint) Extended print, which prints informational messages and test status data.

Test Requirements: The LC cards to be tested must have a software compatibility of 1 or greater to perform this test (see Chapter 8, Field Replaceable Unit Environment). This test requires a minimum of 2 IPMs to be installed and connected together by use of a coaxial wrap cable. Table 2-4 shows the status usage, which displays only if the XP(rint) option is selected. Table 2-4. Status Usage All Errors Status 0 2 4 6 8 10 12 First parameter IPM Second parameter IPM Functional error from Master mode IPM Functional error from slave IPM Functional error during wrap Terminal emulating or Master mode IPM Transmitting IPM

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Table 2-4. Status Usage (Continued) CF77-9 Status 16 18 20 22 24 26 CF85-6 Status 34 IPM Log ID Firmware revision level IPM status Hardware errors Microcode error Last compatibility byte read

Test F90: LMU 3270 Terminal Control Unit Status

This test only reports the current 3270 terminal status as retrieved from the control unit. No interpretation is performed. The display contains a hexadecimal listing of the console status line characters normally seen at the bottom of a 3270 terminal. The character values are listed in the order they would appear on a console (from left to right) and grouped in the following general categories: Table 2-5. Character Value Categories System status Input inhibited messages Performance connection messages Special features Printer status Entry assist Cursor position Bytes 05 Bytes 822 Bytes 2434 Bytes 4756 Bytes 5963 Bytes 6569 Bytes 7378

The following fields are of particular interest and are further decoded: Table 2-6. Character Value Fields System status Ready (Byte 0) Comm status (Byte 1) Controller mode (Byte 2) Input inhibited Status (Byte 8) Modifier (Byte 11) The meanings of these and any other fields may be found in the IBM 3270 Product Technical Specification.

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Run-Time Options: PA-xx

This specifies the IPM used to retrieve terminal control unit status, where: xx is 19 or 1016). Extended print, which prints informational messages and test status data.

XP(rint)

Test Requirements: There are no special requirements when executing this test. A 3270 Terminal Control Unit should be powered up and attached to the requested IPM.

Test FB0: LSM Transport Communications

This test provides a method to troubleshoot LSM transport communication problems. This is done by reading and displaying Sense Byte 0 for each possible transport address, 0F. These are actually broken into four groups: four transports at each of four CDs. The test describes a particular transport as TU0-3 Drive or Transport 0-3. The test starts by reading from all possible transport addresses and displaying the returned status. If a transport is connected and communicating, nothing displays. If the transport is not installed (echoing transmissions due to a terminator), NI displays. If communication (interface) errors exist, IF displays. If a transport is not communicating, NC displays. ---- Tape Unit ---0 Transport 0 1 2 3 NC 1 IF 2 NI NI NI NI 3 NI NC NI NI

Actual Sense 0 data can be displayed if the test is run with the XP(rint) option (communicating transports only): ---- Tape Unit ---0 Transport 0 1 2 3 1600 1600 1600 1600 1 1600 1600 1600 1600 2 ------------3 -------------

The two displays above may represent a situation where two CDs are installed, 0 and 1. CD 0 has one transport, Number 2, not communicating, and CD 1 has

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Transport 0 communicating with errors. All CD 2 transports echo communications due to a terminator plug, and CD 3 shows Transport 1 probably not terminated. After the above display, the test enters an interactive debug session. Prompts are issued about the CDs and transports in an attempt to lead you to communication faults. A cable may need to be replaced by a terminator plug to isolate an IF error.

Test FE0: LSM Array Tilt Utility

The purpose of this test is to check for arrays that are tilted in an LSM. This functionality is provided because of the sensitivity that performance code has to arrays which are tilted. When run, the FE0 diagnostic moves to two positions on each array that exists in the LSM, the first cell and the last cell. This provides a means of measuring the difference in Z positioning between the two cells by using the vision system on Hand 0. Note: Only Hand 0 is used during this diagnostic. Hand 1 cannot be selected by any means because of firmware dependencies). After both positions have been measured, the difference in Z tach counts is calculated. If this difference is greater than 100 tach counts (1/8 in.), the BAD TILT message displays, along with the panel, row and array that was out of specification (if the XP[rint] option is on, output could also be OK TILT). This progression of measuring arrays begins on Panel 0, Row 0, Array 0 and continues around all panels in the LSM before moving to Row 1. If a targeting error occurs, the panel, row and column will be called out and the error displays, ERR TARGET FIND, which indicates that the vision system could not find the target specified. There are multiple problems that could cause an error on targeting. One possibility is that the array is so badly tilted that the target is not in the vision systems range. Another possibility is that the target integrity has been corrupted enough that the vision system cannot recognize it as a valid target. Because of the potential for large volumes of information to be generated by the FE0 diagnostic, it is suggested that the output be captured either to a file or by hand so that valuable information does not scroll off the screen. It is not recommended that the XP(rint) option be used if the output cannot be logged to a file because of the approximately 3000 lines of information that is generated.

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Run-Time Options: PA-xx

This specifies a single panel to run the tilt test on, where: xx is 19 for Panels 09 or 1019 for Panels 1019. No PA-xx option runs the test on an entire LSM.

XP(rint)

Extended print, which prints informational messages and test status data.

Test Requirements: This test requires a fully initialized and configuration matching LSM in Maintenance mode (ready and selected).

Test FF0: LSM Panel Alignment Utility

The purpose of this test is to measure the radial alignment of panels in an LSM. This functionality is provided to help you diagnose problems that may lead to false cell fulls. When run, the FF0 diagnostic moves to five positions on each outer panel and eight positions on each inner panel in the LSM (the actual location is printed with the depth of the cell measured). You may also specify a particular panel against which to run the test using the PA option (see the following information). The diagnostic will move to five positions if an external panel is selected and move to 8 positions if an internal panel is chosen. Initially, you will be prompted to enter the depth of Panel 0 calibration cell and/or Panel 12 calibration cell in thirty-seconds (32nds) of an inch (the wall alignment tool is marked in sixteenths [16ths] of an inch). If numbers are not input, a correction factor of 0 is used; otherwise, the depth input will be compared against the reach depth to derive the correction factor. (If the depth is measured using the tool, the turntable should be pre-loaded manually away from the wall being measured, and then the measurement taken.) Hand 0 first reaches out and check for a cartridge. If one is present, it reaches again and measures the depth. If a cartridge is not present, the cartridge in Hand 1 is placed in the desired cell, Hand 0 measures the depth, and Hand 1 picks up the cartridge again. If a targeting error occurs, the panel, row and column are still printed along with ERR. This indicates that the vision system could not find the target specified or the robotics could not move to the required location because of the machine configurations to measure the depth. If the robotics move to the location and receive an error, the target integrity and panel/array alignment should be checked. If the LSM to be tested has no cartridges in place, the test takes approximately 72 minutes (35 seconds per cell multiplied by 124 cells). If the LSM is fully populated, the test takes less than 20 minutes to complete. If there is any interruption (power, IPL, and so on) the diagnostic cartridge must be found and

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returned to its proper location in 100001 (<Ctrl-C> terminates the diagnostic properly). Run-Time Options: PA-xx This specifies a single panel to run the FF0 test on, where: xx is 09 for Panels 09 or 1019 for Panels 1019. No PA-xx option runs the test on an entire LSM. XP(rint) Not supported.

Test Requirements: This test requires a fully initialized and configuration matching LSM in Maintenance mode (ready and selected) with a both hands functioning and a diagnostic cartridge at Location 100001. Note: This test is not supported on the 9310 LSM.

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Environments

To conserve memory usage, sets of diagnostic system commands are grouped into environments and loaded from floppy you request them. The prompt displayed to you indicates the current environment. To enter a specific environment, you must enter the name of the environment desired (see Table 3-1). Each of these environments has its own set of commands. In some cases, commands have different meanings for different environments. The HE(lp) command always explains available commands, parameters (optional and required), and their syntax.

s Environment Types
Table 3-1 lists the environments of the diagnostic system. These environments are linked to execute at a fixed instruction/data location within the subsystem. In addition, any files loaded by these environments (such as the inline diagnostic overlays) are also hard-linked. This means a linkage applicable for execution at one level of functional firmware may not work on a subsystem on which an IPL has been performed with a different level. Table 3-1. Types of Environments Command CFG DMP DOS ERL FRU LDL MIM STD UTL Function Configuration environment Dump Control environment Disk Operations environment Error Log environment Field Replaceable Unit (FRU) environment Library Diagnostic Language environment Machine-Initiated Maintenance environment Standard environment (diagnostic monitor) Utility environment

The remainder of this chapter describes how to enter the commands and their command syntax.

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Other chapters in this guide contain information about the environments listed in Table 3-1 on page 3-1, available commands, and command syntax.

s Command Syntax
Command entry may take place any time the user prompt displays. The following is one of the forms: MM/DD/YY hh:mm:ss XXX>

In the preceding example, the current real time (military time as programmed into the LMU) precedes the current environment identifier. This prompt supports control automation by including an invisible XON character (hex 11). This transmits after the > character. A second user can attach to the subsystem at the same time. This user views a different prompt indicating that the second user does not have the same capabilities as the primary user. This appears as: NON-PRIMARY> This user has access to the same set of common commands listed in Table 3-2. The user may also issue the ACCESS command to become the primary user (prohibited if the other user is active). The command structure for all commands consists of the command name that may be followed by an operand and possibly one or more options. In general, the command name describes the function to be performed and is two-to-eight characters in length. An operand is a keyword that specifies the information on which the command operates when the command is processed and is from one-to-eight characters in length. It is possible for a command to have several operands, but only one may be specified. An option is a keyword that controls the execution of the command. If a command has several options, none or all may be specified.

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Common Commands

s Common Commands
Table 3-2 lists the common commands for every environment: Table 3-2. Common Commands Command CA(ncel) <Ctrl-C> HE(lp) ME(ssage) Function Cancels the current command/logical connect Lists the environments and contents of the current environment commands Sends a message to a given node

Cancel Command
Table 3-3 depicts the Cancel command syntax. The Cancel command cancels an operation currently being executed. Note: Pressing <Ctrl-C> is identical to typing the CA(ncel) command. Table 3-3. Cancel Command Command CA(ncel) <Ctrl-C> Parameters Function Cancels the operation in process Cancels the operation in process

Help Command
Table 3-4 depicts the Help command syntax. It allows you to display a list of available commands within an environment or syntax information for a specific command within an environment. Table 3-4. Help Command Command HE(lp) command Parameters Function Cancels the operation in process Describes the syntax for a specific command

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Message Command
Table 3-5 depicts the Message command syntax. It sends the specified text to the user connected to another subsystem diagnostic port. The sender is notified if no other user is connected. Table 3-5. Message Command Command ME(ssage) Parameters Text Function Sends a message to another user, if connected

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Configuration

This chapter describes the Configuration (CFG) environment. Within this environment, the diagnostic system user can list, modify, delete, load, and save LSM configuration information. Most commands are non-destructive, acting within a temporary buffer. Note: The SA(ve) command, however, results in an LMU floppy file write and should be used carefully. The ACS configuration user interface is a diagnostic tool that allows you to examine and alter LSM configuration information. Once the maintenance device is properly attached, a <Ctrl-C> initiates communication to the LMU. Enter CFG at the command line and press <RETURN>. Once the interface environment is loaded, type in HELP to display the commands within this environment. A menu displays, detailing commands common to all environments plus unique commands to the interface environment. Note: Enter HELP xxx (where xxx is the command name) for additional information about a specific command.

s Command List
Table 4-1 lists the CFG environment commands. Table 4-1. CFG Environment Commands Command LI(st) MO(dify) DE(lete) LO(ad) SA(ve) SI(ze) Function Lists the LSM configurations Modifies the LSM configuration Deletes the LSM configuration Loads a new configuration file into memory Saves an updated configuration to diskette Changes the cartridge capacity of an LSM

CAUTION: Copying configurations/installing firmware: Use the Utility environment IN(stall) command (see Install Command in Chapter 12, Utility

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List Command

Environment when copying configurations or installing new firmware releases (refer to the installation instructions contained in the EC package). This ensures that configurations are always modified and copied correctly.

s List Command
Table 4-2 lists the List command syntax. This command displays the symbolic or hexadecimal display of LSM configuration data. Table 4-2. List Command Command LI(st) H lsmid Parameters Function Displays the configuration of all LSMs Displays the configuration of all LSMs in a hexadecimal format Displays the configuration of a specific LSM, where: lsmid is 015

s Modify Command
Table 4-3 lists the Modify command syntax. It allows the modification of LSM configuration data loaded in the temporary work buffer. Table 4-3. Modify Command Command MO(dify) lsmid Parameters Function Enters the modify sequence Enters the modify sequence for a specific LSM, where: lsmid is 015

You must respond to the following requests: If the MO(dify) command is entered without LSM number, the LSM to modify (015 or Q to quit) => message displays. Respond with any value within 0 and 15. If the MO(dify) command is entered with LSM number, the Enter PANEL NUMBER,PANEL TYPE (Q-quit, ?-Help) => message displays. Enter a response, such as 1,DRV (which configures Panel 1 as the drive type). In both requests, entering Q exits from Modify mode, and entering ? displays the valid panel types.

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Delete Command

s Delete Command
Table 4-4 lists the Delete command syntax. It deletes a single LSM from the configuration. This operation may leave unterminated PTP/CEMs, but no messages are generated until the save operation is attempted. Table 4-4. DeleteCommand Command DE(lete) lsmid Parameters Function Enters the delete sequence Deletes a specific LSM, where: lsmid is 015)

s Load Command
Table 4-5 lists the Load command syntax. It loads the configuration file from the floppy into a temporary work space. This actually occurs automatically each time the CFG environment is entered, but it is provided to allow loading from another functional disk. Table 4-5. Load Command Command LO(ad) Parameters Function Loads the configuration file from diskette

s Save Command
Table 4-6 lists the Save command syntax. The Save command, before writing to an appropriate functional floppy, analyzes the configuration file for possible illegal configurations. This may result in fatal or warning messages being generated. You must correct a fatal problem before the save will complete. A new floppy may be inserted before the save. This allows the transfer of an existing configuration to a new disk. The command may be repeated if a configuration needs to be copied to several diskettes. Note: After the configuration file is altered and saved, you must re-IPL to install the new configuration. If the LMU is not to be re-IPLed with the newly written disk, be sure the original disk is returned to the disk drive before leaving the CFG environment. Table 4-6. Save Command Command SA(ve) Parameters Function Saves the configuration file to diskette

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s Size Command
Table 4-7 lists the SI(ze) command syntax. The SI(ze) command displays and adjusts the cartridge capacity of the LSM. This command is used for customers implementing the reduced capacity ACS option. Table 4-7. Size Command Command SI(ze) lsm xxxx Parameters Function Displays the cartridge capacity of all LSMs Alters the specified LSM to a size specified; where valid sizes for xxxx are: full = Complete LSM 3000 = 3000 cartridges 3500 = 3500 cartridges 4000 = 4000 cartridges 4500 = 4500 cartridges 5000 = 5000 cartridges

s Special Considerations for Dual LMUs

In a Dual LMU configuration, you are required to have identical configuration information for both master and standby LMUs. The CFG environment will prompt you to insert the standbys functional diskette into the second floppy disk drive of the Master LMU. The SA(ve) command analyzes these diskettes for proper level and type, before saving the configuration file to disk. If either disk is invalid, the saving process is terminated and an appropriate error message is displayed. After saving the modified configuration file, you must IPL both LMUs.

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Dump Control Environment

The Dump Control (DMP) environment provides various data dump/trace access functions you might need. This includes data examination, download, and status display and clearing.

s Command List
Table 5-1 lists the DMP command set. Table 5-1. DMP Environment Commands Command ST(atus) CL(rdump) Function Dump or trace file status Allows the LSM to overwrite the dump or trace file

s Status Command
Table 5-2 lists the DMP environment Status command syntax. The Status) command displays the current status of each (LMU/LSM) dump file. This information consists of: Whether the dump is available for overwrite Valid (successful dump completion) The machine type identifier (LMU or LSM ID) The fault symptom code which caused the dump to occur The code revision level The dump time stamp

Table 5-2. Status Command Command ST(atus) Parameters Function Displays the status of the dump files

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Clrdump Command

s Clrdump Command
Table 5-3 lists the (clear dump) CL(rdump) command syntax. CL(rdump) enables dump file overwrite (clearing) for the LSM dump file. This dump file protection feature exists only for the LSM due to the possibility of multiple LSMs attempting simultaneous dump operations. If a LSM is attempting to dump against an unclear file, it displays the DUMP NOT CLR message. Using this command resets the respective flag and allows this LSM to perform data dump offload. LMU dump files do not require clearing and will always indicate that overwrite is enabled. Table 5-3. Clrdmp Command Command CL(rdump) Parameters Function Enables the LSM to overwrite (clear) the dump file

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Disk Operating System Environment

The Disk Operating System (DOS) environment provides various disk I/O functions you might need. This includes file transferring, directory lookup, and file rename.

s Command List
Table 6-1 lists the DOS command set. Table 6-1. DOS Environment Commands Command RE(ceive) SE(nd) DI(r) REN(ame) Function Receives files Sends files Displays the disk directory Renames files

s Receive Command
Table 6-2 depicts Receive command syntax. This command transfers a selected LMU file to a maintenance device communicating in the SDOS-packeted protocol. This command is intended for Solutions Delivery Support (SDS) use only. Note: The RE(ceive) command should not be used in place of the DOW(nload) command in the error log interface. Internal file pointers are not updated and cause data loss should the log ever wrap.

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SendCommand

Table 6-2. Receive Command Command RE(ceive) Parameters sd:sfn.sft dd:dfn.dft Function Receives files to the maintenance device, where: sd is the LMU disk drive location 1 or 2 (from) sfn is the LMU filename sft is the LMU filetype dd is the maintenance device disk drive location A or B (to) dfn is the maintenance device filename (six characters maximum) dft is the maintenance device filetype (two characters maximum)

s SendCommand
Table 6-3 depicts Send command syntax. This command transfers a selected 392x file to the LMU using the SDOS-packeted protocol. This command is intended for SDS use only. Table 6-3. Send Command Command SE(nd) Parameters sd:sfn.sft dd:dfn.dft Function Sends files to the LMU, where: sd is the maintenance device disk drive Location A or B (from) sfn is the maintenance device filename (six characters maximum) sft is the maintenance device filetype (two characters maximum) dd is the LMU disk drive location 1 or 2 (to) dfn is the LMU filename dft is the LMU filetype

s Dir Command
Table 6-4 depicts the Dir command syntax. This command provides a display of floppy directory information for either floppy disk drive. Note: All standard SDOS wild card characters are applicable.

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Rename Command

Table 6-4. Dir Command Command DI(r) Parameters x x:fn Function Displays all directories, where: x is disk drive location 1 or 2 Displays a specific directory, where: x is disk drive location 1 or 2 fn is the filename Displays a specific filename and filetype, where: x is disk drive location 1 or 2 fn is the filename ft is the filetype

x:fn.ft

Note: Wild cards may be used in the filename and filetype fields, where * indicates multiple characters and ? indicates single characters.

s Rename Command
Table 6-5 depicts the Rename command syntax. This command allows you to rename files on either floppy disk drive. Note: All standard SDOS wild card characters are applicable. Table 6-5. Rename Command Command REN(ame) Parameters x:cfn.cft nfn.nft Function Renames the file, where: x is the disk drive location where file resides cfn is the current filename cft is the current filetype nfn is the new filename nft is the new filetype

Note: Wild cards may be used in the filename and filetype fields, where * indicates multiple characters and ? indicates single characters.

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Error Log Environment

This chapter describes the Error Log (ERL) environment. The automated cartridge subsystem (ACS) error log is a multi-file management system that collects valuable subsystem operating information in a real-time manner. This information can be examined at the customers site and downloaded to Solutions Delivery Support (SDS). ERL files are referenced as record types and are made up of files resident on LMU mass storage.

s Types of Logs
The error logs in an ACS include: EVENT.LOG: Event records (functional error/event data) STATM.LOG: LMU statistical records STATSx.LOG: LSM statistical records, where x is the LSM ID, 0F DIAG.LOG: Diagnostic Records (test error/event data)

Upon completion of the LMU IPL (functional start-up), portions of these files are read into memory buffers. As events occur, additions are made to the buffers and, when full, the events are written back to disk. The files on disk are circular in nature, since wrapping occurs if they become full (the oldest data is overwritten). This approach allows continuous logging and places emphasis on the latest events. When you examine a selected record type (log file), buffer writing is disabled (locked). This is done to prevent a wrapping log from disrupting data currently being examined (you only examine what is currently on disk). The drawback to this is that if the logging buffers fill during this examination period, entries will be discarded (refer to the ST(atus) command description for lost entry indications). This only occurs if the examination period is extensive and excessive logging activity is occurring. With the maintenance device properly attached, type ERL at the command line and press <RETURN> (a dumb terminal key) or <ENTER> (a 392X key). The ERL environment then loads into memory, and the following prompt displays to indicate execution readiness: StorageTek ACS Error Log User Interface MM/DD/YY hh:mm:ss ERL>

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Command List

StorageTek ACS Error Log User Interface MM/DD/YY hh:mm:ss ERL>

For generalized environment help, type HELP to display available command descriptions. A list displays detailing commands common to all environments plus commands unique to ERL environment. Type HELP xxx (where xxx is the command) for specific command information. This online command information is intended as a syntax reference only. Refer to specific command descriptions contained within this document for in depth information.

s Command List
Table 7-1 lists the command set for the ERL environment. Each entry must begin with one of these commands. The subsequent text describes each available command and associated options. Some commands also require a record type as a second input parameter. Failure to enter a command correctly will result in an informational message. Use the HELP command to obtain more information about a specific command and parameters. Table 7-1. ERL Environment Commands Command UN(lock) DO(wnload) LI(st) ST(atus) [ + | - ] #n AN(alyze) PU(rge) Function Unlocks any locked logs Downloads binary log data to the SDS Lists the log entries Displays the log file status Displays logs with a plus/minus offset Analyzes a selected devices error log data Resets the SDE pointers in a log file (purges data)

s Unlock Command
Table 7-2 on page 7-3 depicts the Unlock command syntax. This command unlocks log files that were previously locked by the List command. When a log file is locked, no further entries (written to the log file on disk) are allowed. In the case of the event log, all subsequent logging accesses are buffered in memory until the buffer space is exhausted; in this case, entries are discarded. Log files accessed by the List command are initially locked to protect you against continuous log updates that may be confusing during log examination.

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Logs are automatically unlocked when you exit the ERL environment or inactivity (no keyboard input) is detected to have exceeded five minutes. Table 7-2. Unlock Command Command UN(lock) EV(ent) DI(agnostic) ST(atistic) ST(atistic) CU ST(atistic) D(ev)=x Parameters Function Unlocks all logs Unlocks the event log (error log) Unlocks the diagnostic log Unlocks all statistic files Unlocks the LMU statistic files Unlocks a specific LSM statistic files, where: x is the LSM address, 0F

s Download Command
Table 7-3 lists the Download command syntax. SDS uses this command to transfer error log information from the LMU. The statistical, event and diagnostic records (log files) are transferred in a packeted format. All configured devices are downloaded by this command. If an LSM is unavailable (such as powered off or unattached), it will be bypassed. After successfully completing the download process, SDS file references (pointers) are reset to allow the collection of new log entries. The SDE file references are not affected by this operation; see Purge Command on page 7-10. Table 7-3. DO(wnload) Command Command DO(wnload) Parameters Function Downloads binary error log data

s List Command
This command displays a summary (common header information) or expansion (descriptive explanation) of data within the selected log.

General Syntax
Table 7-4 lists the List command syntax (command and record type are required input). Many options exist that allow you to focus on specific data within the log.

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Table 7-4. List Command Command LI(st) Parameters EV(ent) <option> DI(agnostic) <option> ST(atistic) <option> Function Lists the content of the event log Lists the content of the diagnostic log Lists the content of the statistic log

Note: See Table 7-5 for additional information about the options. Table 7-5 lists the options available for the List command: Table 7-5. List Command Options Options P(re) XP(rint) Definition Previous data Extended print function

D(ev)=x or CU Selects a specific LSM (device) or the LMU (CU) T(od)=t or T(od)=t1-t2 #sequence or #s-#s E(t)=E or E(t)=E1,E2... S(t)=S or S(t)=S1,S2... F(sc)=F or F(sc)=F1,F2... I(d)=I or I(d)=I1,I2... Selects a specific time of day or a range (fromto) Selects a specific sequence number or range of numbers (fromto) Selects a specific event type or a range of event types Selects a specific statistic type or range Selects a specific fault symptom code (FSC) or a list of FSCs Selects s specific statistic ID or range

H(id)=H or Selects a specific host sequence ID or range H(id)=H1,H2... L(rc)=L or (Lrc)=L1,L2... Selects a specific LMU response code or range

List Command Examples

When troubleshooting, it is often useful to filter only the log files that pertain to the problem. Some examples you may use are shown in the following sections.

List CommandPrevious Option

After a PU(rge) command, a log appears empty due to the reset of log file pointers. Access to this purged (previous) data is available through use of the

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P(re) option. Previous data is indicated by negative log sequence numbers. This option does not apply to the statistical log since its data is captured only upon request. You should also note that some amount of previous data can be overwritten with each entry added to a full (wrapped) event or diagnostic log. This option is only available for Event and Diagnostic record type access. To list the previous event log entries, enter: MM/DD/YY hh:mm:ss ERL> LI EV P

List CommandExtended Print Option

The (extended print) XP(print) option allows extended printing (ASCII representation of hexadecimal data) for each filtered entry. This option is available for all record type accesses. To list current event log entries with extended printing, enter: MM/DD/YY hh:mm:ss ERL> LI EV XP

List CommandDevice = x Option

The DEV=x or CU option filters data for a given LSM (where x is 015) or LMU (CU). only one device selection is possible for a given List request. This option is available for all record type accesses. To list the current event log entries for LSM 4, enter: MM/DD/YY hh:mm:ss ERL> LI EV D=4

List CommandTOD Option

The (time-of-day) T(od) option filters entries that match the specified date or range of dates. The month and day may be specified with only one character, but the year requires a two-character entry. You can enter abbreviated T(od) option data as long as the data entered matches the left to right format (for example, T(od)=14:02 is invalid because the preceding month/day/year is missing). If a year is not specified, the current LMU real-time clock year value is used as default. Time is military style (for example, 0800 is 8:00 a.m. and 2200 is 10:00 p.m.). This option is available for all record type accesses. The following diagram depicts T(od) option syntax: T(od)=MM/DD/YY: hh: mm: ss (single time-of-day) T(od)=MM/DD/YY: hh: mm: ss-MM/DD/YY: hh: mm: ss (time-of-day range)

To list the current event log entries for LSM 4 with the time of day filtered for all of April, enter: MM/DD/YY hh:mm:ss ERL> LI EV D=4 T=4

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List CommandTOD, Range Option

To list the current event log entries with the time of day filtered for April 11, 1999 at 8:15 pm through April 12, 1999, 8:15 am., enter:
MM/DD/YY hh:mm:ss ERL> LI EV T=4/11/99:22:15-4/12/99:8:15

To list the current event log entries with the time of day filtered for all of June through all of September, enter: MM/DD/YY hh:mm:ss ERL> LI EV T=5-9

List CommandLogging Sequence Number Option

The #S (sequence number) option filters an entry or a range of entries by logging sequence number. The logging sequence number is an identification number assigned to each entry as it is displayed on the maintenance device. These numbers are positive for current data and negative for previous data. Only the number is input. This option is available for all record type accesses. To list the current event log entry sequence number 241, enter: MM/DD/YY hh:mm:ss ERL> LI EV 241 To list the previous event log entries with logging sequence numbers 422 through 500, enter: MM/DD/YY hh:mm:ss ERL> LI EV 422-500

List CommandEvent Type Option

The ET=E (event type) option filters only the requested event types. The event log is a collection of similar event types (such as host reported errors, LMU internal errors, and LSM IPL events) Refer to Appendix A, Event Log, for in-depth descriptions of available event types. This option is only available for event and diagnostic record type access. To list the current event log entries with Type 1 events, enter: MM/DD/YY hh:mm:ss ERL> LI EV E=1 To list Type 9 events occurring on LSM 4, enter: MM/DD/YY hh:mm:ss ERL> LI EV E=9 D=4

List CommandStatistic Type Option

The ST=S (statistic) option filters only the requested statistic types. The statistical logs are a collection of similar statistic types (such as LMU LAN statistics, and LSM Hand 0 statistics). This option is only available for Statistical record type access.

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To list LMU statistic log entries of statistic Type 1, enter: MM/DD/YY hh:mm:ss ERL> LI ST CU S=1

List CommandFault Symptom Code Option

The FSC=F (fault symptom code) option filters one or a range of fault symptom codes. These FSCs can only be found in Event Types 04 and 05. This option is only available for event and diagnostic record type access. To list the current event log entries for Type 1 events for FSC 1234, enter: MM/DD/YY hh:mm:ss ERL> LI EV E=1 F=1234 To list the current event log entries for Type 5 events and for FSCs 1200 through 1300, enter: MM/DD/YY hh:mm:ss ERL> LI EV E=5 F=1200-1300

List CommandID Option

The ID=I option filters one or a range of special identifiers (such as LAN IDs and IPM IDs) during statistical access. This option is only available for statistical record type access. To list LMU host interface statistics identified for IPM 4 with the extended print option, enter: MM/DD/YY hh:mm:ss ERL> LI ST CU S=4 I=4 XP

List CommandHost ID Option

The HID=H (host sequence) option filters one or a range of host sequence identifiers (HIDs). The host sequence number is a number created by the host processor and is ascribed to a specific request. This identifier is passed throughout the subsystem during host request execution and, if errors are detected and logged, this identifier will be ascribed to each log entry. This option is only available for event and diagnostic record type access. To list the current event log entries for LSM 4 with Host Sequence Number 5082, enter: MM/DD/YY hh:mm:ss ERL> LI EV D=4 H=5082 The LRC (LMU response code) option filters one or a range of LMU response codes. The LMU response code is the error sent to the host processor upon unsuccessful subsystem operation completion. A logged LMU response code is contained in event type ET=01 in the event and diagnostic logs. This option is only available for event and diagnostic record type access.

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List CommandLMU Response Code Option

To list the current event log entries for LSM 5 with LMU Response Code 0401, enter: MM/DD/YY hh:mm:ss ERL> LI EV D=5 L-0401

s +/- #n Command
Table 7-6 depicts the +/- (plus/minus) command syntax. This command allows you to move forward or backward through a log that was previously displayed with the List command. You must have entered a List command before entering the request; the plus/minus command references this previous command. The +/- command moves you a specified offset (the default is 1) in either direction from the last displayed entry. The offset moved is in relation to the logging sequence number attached to each entry displayed. If you specify an offset which is out of range, a message is posted. The (extended print) XP(rint) option is the only option which is carried over from the initial List command. This command is currently only available for event and diagnostic record type access. Table 7-6. +/- Command Command +|#n Parameters Function Plus or minus one logging sequence Plus or minus #n logging sequences

s Status Command
Table 7-7 depicts the Status command syntax. It queries individual record type (log file) status. It displays the following log file status for the event and diagnostic record types: Overall file status (such as OK, unreadable, and unwritable) If the log is currently locked If the log is currently wrapping (full) The last current log sequence number The number of entries that were lost (such as, locked log with excessive entries, diskette removed for a period of time, and bad diskettes)

Status for statistical record type logs only indicate whether each of the log files are locked or unlocked. These files differ from the event and diagnostic log files: they are captured on request and are of a fixed length, instead of being circular and constantly being updated.

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Table 7-7. Status Command Command ST(atus) Parameters EV(ent) DI(agnostic) ST(atistic) Function Event log status Diagnostic log status Statistical log status

s Analyze Command
Table 7-8 on page 7-10 depicts the Analyze command syntax. You must enter the device type for this command. The AN(alyze) command summarizes a selected event or diagnostic log into display categories on a device selection basis. The following sections indicate the display categories.

Error Summary (LMU/LSM)

This information categorizes errors into groups, representing the following three severity levels: Device inoperative This category is an indication that the device is (or was at the time of the log entry) non-operational from the standpoint of the host. This category reflects that a redundant mechanism or path is inoperative, but the device is still functional from the standpoint of the host.

Device degraded

Potential unit failure This category indicates errors that may (in an accumulated fashion) relate to one of the previously mentioned fault conditions but are handled during retry operations. The following summary provides a description of how the selected device is operating according to the log file.

Operation Summary (LSM Only)

This information is only available for the LSM. It displays LSM commands that have failed and the reason why the operation failed. The summary provides a description of how the LMU perceives the functionality of the targeted LSM according to the log file. When an analyze is requested, each current log entry is examined and, if the proper collection criteria is met, the entry is inserted into an analysis data base. Once an initial analyze picture is taken, you can perform other commands and return to look at the captured analyze data when you want. This is

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especially convenient when using the List command to reference analyze displays. Table 7-8. Analyze Command Command AN(alyze) DI(agnostic) <option> EV(ent) <option> Note: The options are as follows: D(ev) is x or CU to select an LSM (015) or the LMU (CU) T(od)=t or T(od)=t1-t2 to select the time-of-day #Sequence number to select a logging sequence number Parameters Function Displays the save analyze state Saves the diagnostic log analyze state Saves the event log analyze state

s Purge Command
Table 7-9 lists the Purge command syntax. It resets the log file pointers that are used during the List and AN(alyze) commands. By resetting these pointers, data appears to have been purged, since the next log entry appears as the first sequence number. In reality, the purged information is available using the List command with the previous filter option. A unique set of SDE log file pointers are used in support of this command. This command does not affect SDS-download data, due to a unique set of SDS pointers maintained for this purpose. This command provides you with a method to clear (baseline) the log during troubleshooting activities. A statistical log file purge is unavailable due to the overwriting of data on each sequential log update access (this file is not continuously being written to like the event and diagnostic logs). Table 7-9. Purge Command Command PU(rge) Parameters EV(ent) DI(agnostic) Function Purges the event log Purges the diagnostic log

s Event Log Content

The event log stores all special events that occur within the subsystem. These events are grouped according to data content and source, and identified by event type. When printing events, a header appears:
ET=01 DEV=02 (PHRN) TOD=02/12/92-16:33:21 LRC=0401 SEQ#= +3

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This information consists of five parts: 1. The first item (ET=xx) is the event types identifier. This value defines the structure of data immediately following the header. Different event types are explained later. 2. The second item (DEV=xx) indicates the source of the data. It appears as 00 to 0F for LSMs and 10 for the LMU. Following the device number is a field that indicates the device type. This may be: 4400 = 4400 Library PHRN = 9310 Library (Powderhorn) MS-A = Dual LMU masterconfigured as A MS-B = Dual LMU masterconfigured as B SL-A = Dual LMU standbyconfigured as A SL-B = Dual LMU standbyconfigured as B Blank = Stand-alone LMU

3. The T(od) field represents the time of day when the event was recorded. This time corresponds to time set (T[od]) within the LMU. 4. The next field contains an error code only if it is appropriate for the specific event type. a. For ET=01, the four-digit decimal value is interpreted as a library response code (LRC). A customer would receive these values in HSC messages when operations fail. b. For ET=05, the four-digit hexadecimal value is a fault symptom code (FSC). These are internal errors and tend to provide more explanation for failed operations. The error codes are explained in subsequent lines of text only if the XP(rint) option is entered. 5. The sequence number indicates the order in which an event occurs in the log. This number may be used in subsequent ERL commands to reference a particular event. The number remains constant as long as the log remains locked. It is a positive number (+) for all events since the last PU(rge) command and negative (-) for all those preceding a PU(rge) command.

Event Types
There are 20 event types, which are shown in Table 7-10. Table 7-10. Event Types Event ET=01 ET=02 ET=04 Type Host Interface Error LMU IPL Event LMU IPM Error

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Table 7-10. Event Types (Continued) Event ET=05 ET=06 ET=07 ET=08 ET=09 ET=0A ET=0B ET=0C ET=0D ET=0E ET=0F ET=10 ET=11 ET=12 ET=13 ET=14 ET=15 Type LMU Internal Error LSM NOPs ResetInitialization Complete Event LMU IPM Data Dump LMU Rejected LAN Packet LSM Error ResponseEvent Buffers to Follow LSM Error Event Buffer LSM Error ResponseNo Event Buffers LSM Requested Dump LSM Door Opened LSM Door Closed LSM Go Home Request LSM Operational Change LSM IPL Complete LSM LAD Closed LSM Intervention Required LSM CAP Opened Illegally LSM LAD Opened

All event types have a common 14-byte header followed by a unique data structure that details the logged event. Each event type is explained in the following sections.

Host Interface Error (ET=01)

Event Type 01 is recorded when the subsystem returns bad status to the host upon completion of a host requested operation. This event typically follows LSM error entries (ET=09, 0A, 0B) that relate to the failing operation. Use the HID filter option to tie these log entries together; see List Command on page 7-3. The following text details each displayed field: Host Sequence ID LSM in error Request Type Error{xxxx} The host created identifier attached to each operation. The LSM that experienced the error. The requested host-to-subsystem operation. The response type. The response error code.

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Recovery

The cartridge recovery being performed (if required).

LMU IPL Event (ET=02)

This event is recorded when the LMU completes an IPL process. Any error bypassed during the PROM/boot diagnostic execution is also recorded in this entry.

LMU IPM Error (ET=04)

This event is recorded when an interface peripheral module (IPM) detects an error condition. This event consists of an IPM identifier (116) and associated FSC.

LMU Internal Error (ET=05)

This event combines all remaining LMU internal errors (such as LAN, floppy, and multi-tasking). This event consists of an FSC only.

LSM Inoperatives ResetInitialization Complete Event (ET=06)

This event is recorded when a given LSMs inoperative flags are reset. This is an indication that the LMU is resetting all internally maintained inoperative flags for the given LSM to allow for a clean start. This event typically occurs upon completion of a normal initialization or quick initialization.

LMU IPM Data Dump (ET=07)

This event is recorded when a given LMU IPM is about to re-initialize due to a detected error. Prior to resetting the IPM, a Sense command issues to collect current operating information. Table 7-11 details the contents of each of the displayed fields. Table 7-11. LMU IPM Data Dump Fields Level Status Error IPM firmware level Enabled/disabled Wake-up errors 0x01 = 0x02 = 0x04 = 0x08 = 0x10 = Hardware errors 0x01 = 0x02 = 0x04 = Memory error LMU bus request wrap error LMU bus FIFO wrap error 3270 wrap error 8253 timer error LMU bus NACK error FIFO in parity error 3270 heartbeat time-out

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Table 7-11. LMU IPM Data Dump Fields (Continued) Error Microcode errors 0x01 = 0x02 = 0x04 = Master mode IPM status 0x01 = 0x02 = 0x04 = 0x08 = 0x10 = 0x20 = 0x40 = 0x80 = Master mode IPM message 0x01 = 0x02 = 0x04 = 0x08 = 0x10 = 0x20 = 0x40 = 0x80 = Line Invalid CPM request received No EOT in transmission No SOT in transmission In master mode Response to the last poll received No response to the polls Late response (greater than 5.5 ms) Responding to the polls POR received since power-on No EOT in the transmit field No TTAR in response to the command POR received from the last poll TTAR received from the last poll Enter received from the last poll (Unused) No data received in response to read Received data in response to read Waiting to receive data on read Invalid byte received in the poll response

Ready status of control and inhibit status

LMU Rejected LAN Packet (ET=08)

This event captures rejected LAN packets. Packet information can, on some occasions, clarify LMU-to-LSM interaction sequences. Description of the displayed information is bypassed due to the complex nature of the data and the sheer number of unique field definitions. This event always has a companion LMU internal error event (ET=05) logged that indicates the general reason for the event.

LSM Error Response (ET=09)Event Buffers to Follow

This event is a high level view of an unsuccessful LSM operation. Typically, event buffers (ET=0A) follow this entry and provide the low level view of the failed operation. This event can usually be tied to the host error response (ET=01) through usage of the HID option filter in the List command. Table 7-12

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details the common display fields. Each response has its own special fields which pertain to the uniqueness of the initiating command): Table 7-12. Common Display Fields Host sequence ID Command Result Log criteria The host created identifier that is attached to each operation. The operation requested by the LMU to the LSM to perform the requested host operation. The result of the requested command. This is a bit-wide flag that indicates why this event is being logged. The following list indicates the possible criteria: ENDSTA: SNAPS: TDFSC: INOP: HARDLOG: Event buffers Bad ending status Snapshots, see LSM Event Buffer (ET=0A) Tape unit FSC logged Mechanism inoperative occurred Forced (hard) logging

Indicates the number of event buffers (ET=0A) following this event. It also indicated is a truncation flag, if applicable. This flag indicates if the given LSM was unable to buffer (no memory space, event data lost) all of the error information presented to it.

LSM Event Buffer (ET=0A)

General Description
This event contains statistical, error, and snapshot information collected by the LSM during every operation; however, this data is only logged if the overall LSM operation fails. This information records the step-by-step software decisions the LSM made for a given request, and is always preceded by an LSM error response (Event Type 09).

Servo Snapshot Description

One sub-type of the ET=0A entry is considered to be the servo snapshot. It records very low level mechanism parameters at the time a problem is detected. The following is a basic description of its content. Servo snapshots are displayed in groups of four and are so labeled (1 of 4, 2 of 4, 3 of 4, and 4 of 4). Snapshots are normally grouped together, by sequence number, following the first report of the problem. The order of different groups, however, is dependent on processor activity and may not reflect the real-time order of events.

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In the event of servo (motion control) system failure, the software reports detailed information to the error log regarding its condition at the moment the failure was detected. The snapshot identifies first, the mechanism involved, and then the type of failure. Because this information is not always sufficient to determine the precise cause of failure, much more data is posted. Due to firmware space limitations, only the most brief labels are used, and the values are posted in hexadecimal format. In the snapshot, terms in Table 7-13, Table 7-14 on page 7-17, and Table 7-15 on page 7-18 are used. Table 7-13 shows the status flag (SFLG) bit definitions. Table 7-13. Status Flag (SFLG) Bit Definitions B_OPER 0x0001 Bit #0 Operational, which is set after successful initialization, cleared in dc_isr if certain fatal errors occur. This bit is not used by servo code - except to set and clear it. The bit must be cleared to do any initialization checks on the mechanism. Note: Only the dc_bring ( ) function should be allowed to set the bit! B_ARMED 0x0002 Bit #1 The mechanism is usable, such as under servo control using dc_isr( ). If it is cleared, dc_isr( ) does not access the mechanism. Note: This does not mean that the mechanism is non-operational, it is just not being accessed or under control. B_DIACHK 0x0004 Bit #2 Diagnostic check of mechanism completion. If it is cleared, dc_check( ) must be called to use the mechanism. This is set when sensors have been checked and position reset. If clear, the dc_isens function must be called. Mechanism calibrated Successful move completed Failed move Mechanism moving

B_SENCHK

0x0008

Bit #3

B_CALIB B_SUCCES B_FAILED B_MOVING

0x0010 0x0020 0x0040 0x0080

Bit #4 Bit #5 Bit #6 Bit #7

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Table 7-13. Status Flag (SFLG) Bit Definitions (Continued) B_LOCKED 0x0100 Bit #8 The mechanism is locked in stoplock. This is set in dc_isp if Phase 8 (stoplock), and position and velocity errors fall below certain defined thresholds (stop_osc and so on). In velocity control in stoplock Force scan of mechanism during initialization Initialization is done flag, which is used by vision code only at this time. Undefined Undefined Undefined Undefined

B_VCNTRL B_SCAN B_INIDON

0x0200 0x0400 0x0800

Bit #9 Bit #A Bit #B Bit #C Bit #D Bit #E Bit #F

Table 7-14 shows the sense register (S_REG) bit definitions. Table 7-14. Sense Register (S_REG) Bit Definitions B_TH_CCW B_TH_CW B_TH_HOM B_Z_HOME B_Z_CBOT B_Z_CTOP B_Z_WBOT B_Z_WTOP B_WR_CW B_WR_CCW B_RL_CEL B_RL_DRV B_RE_CRS B_RE_SAF B_RE_IN 0x02 0x04 0x01 0x01 0x02 0x04 0x08 0x10 0x02 0x04 0x02 0x04 0x02 0x04 0x06 Bit D1 Bit D2 Bit D0 Bit D0 Bit D1 Bit D2 Bit D3 Bit D4 Bit D1 Bit D2 Bit D1 Bit D2 Bit D1 Bit D2 Bit D1 and D2 Theta CCW crash stop Theta CW crash stop Theta home Z home Z bottom crash stop Z top crash stop Z bottom warning Z top warning Wrist CW crash stop Wrist CCW crash stop Roll cell crash stop Roll drive crash stop Reach either crash stop set Reach in safe position Reach in crash stop

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Table 7-14. Sense Register (S_REG) Bit Definitions (Continued) B_RE_OUT B_PT_MST B_PT_SLV B_FIOPEN B_FICLOS B_FISEAT B_FIDET 0x02 0x02 0x04 0x10 0x20 0x40 0x80 Bit D1 only Bit D1 Bit D2 Bit D4 Bit D5 Bit D6 Bit D7 Reach out crash stop Pass-thru port/cartridge exchange mechanism master crash Pass-thru port/cartridge exchange mechanism slave crash Finger open sensor Finger closed sensor Finger cartridge seated Finger cartridge detected

Table 7-15 shows the other terms that are used in the snapshot. Table 7-15. Other Snapshot Terms cur This is the motor current, where full power is +7F and -7F. The number of amps or actual torque this corresponds to depends on the particular mechanism involved. For all mechanisms, a positive value means the motor is pushing the load toward Crash Stop # 2. This is where the latest move began. At the start of a move pos_r0 is equal (+/- one count) to st_pos. This is where the mechanism is heading. Not until the move is completed will pos_r0 (and pos_r1) equal the destination (+/- 1 count). This is the position at Time 0. It represents the actual position of the mechanism at the instant the failure was detected (which usually occurs within 140 ms). The units depend on the mechanism involved and are relative to the crash stop and other sensors (if present). The sensor locations are given in terms of motion at the load (as opposed to motion of the motor). Refer to Table 7-16 on page 7-20. This is the position of the mechanism 12.5 ms ago (the sampling rate of the servo). From this and pos_0, the mechanisms velocity can be deduced. This is the desired position of the mechanism at the moment of failure. The desired position at any time is not the same as the destination that is also listed, since it takes time to go from the starting position to the destination. During a move, pos_r0 changes in a controlled way from st_pos to dest.

st_pos dest

pos_0

pos_1

pos_r0

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Table 7-15. Other Snapshot Terms (Continued) pos_r1 This is the desired position 12.5 ms before the failure. The difference (pos_r0 - pos_r1) is the desired velocity and might be 0. This gives the position of the crash stop sensors. From this and the pos_0 information, the exact location of the mechanism when it failed can be derived.

cr_1, cr_2

There are many terms in the snapshot whose meanings are too subtle to define here. This brief explanation should provide some insight when troubleshooting a difficult problem.

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Table 7-16 provides important parameters of the servo mechanisms of the LSM. Table 7-16. LSM Servo Mechanism Parameters Parameter Tachometer line count (lines per revolution) Primary gear type Primary gear ratio (note 1) Secondary gear type Theta 400 Z 200 Wrist 1024 Reach 200 Roll 200 PTP 200

Harmonic drive 100:1 none

Belt 1:1 Leadscrew 1 inch/rev. 800/in.

Belt 5.14:1 None None 58.5/5= 298/in.

Leadscrew 1 inch/ rev. None None 800/in.

Belt 5:1 None None 11.4/5

Belt 2.624:1 (note 2) Leadscrew 0.5 in./ rev. 4200/in.

Secondary gear ratio none Position count unitsquarter tachs per unit shown at load Motor torque constant (oz.-in./amp) Amplifier gain (amps/DAC count) (note 3) Range of motion (qTachs approx.) Direction of force if DAC command greater than 0 (note 4) Notes: 444/5= 439/in.

51.6

12.4

24.5

8.1

8.1

8.1

0.110

0.0787

0.0394

0.0197

0.0394

0.0157

-13000H +13000H CW

-5000H +5000H Up

10 2D00H CW

50 1A00H Extends

20 4A0 CCW

0 B000 Depends on position

1. Primary gear ratio, gear reduction nearest motor. 2. The pass-thru port (4420) pulley ratio changed from 2.688:1. 3. For all mechanisms, the DAC range is -1800 to +127 counts. 4. The viewpoint is from above for the theta and the wrist. For roll, the viewpoint is facing the mechanism (fingers closer than motor).

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LSM Error Response (ET=0B)No Event Buffers

This event is a also a high-level view of an unsuccessful LSM operation. What separates this event from a ET=09 is that this event never has any associated event buffers (ET=0A). The field descriptions for ET=09 are applicable here with the exception of the event buffers following field.

LSM Requested Dump (ET=0C)

This event is recorded at the time that a given LSM requests a data dump operation.

LSM Door Opened (ET=0D)

This event is recorded when a given LSMs door is opened.

LSM Door Closed (ET=0E)

This event is recorded when a given LSMs door is closed.

LSM Go Home Request (ET=0F)

This event is recorded when a given LSM requests permission to recalibrate itself.

LSM Operational Change (ET=10)

This event is recorded when an operational change occurs within the LSM.

LSM IPL Complete (ET=11)

This event is recorded when a given LSM completes an IPL.

LSM LAD Closed (ET=12)

This event is recorded when a given LSMs LAD is closed.

LSM Intervention Required (ET=13)

This event is recorded when a given LSM requires intervention from an operator.

LSM CAP Opened Illegally (ET=14)

This event is recorded when a given LSMs CAP is opened illegally.

LSM LAD Opened (ET=15)

This event is recorded when a given LSMs LAD is opened.

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s Diagnostic Log Content

The Diagnostic Log stores LSM events that occur during the execution of diagnostic routines.

s Diagnostic Event Types

In addition to the events described above for the event log, the events shown in Table 7-17 are used to trace diagnostic execution. Table 7-17. Diagnostic Event Types ET=20 ET=21 Diagnostic Started Diagnostic Completed

Diagnostic Started (ET=20)

This event is recorded at the beginning of each diagnostic execution. Information within this event details when the test was started, the test identifier, and the selected device.

Diagnostic Completed (ET=21)

This event is recorded when a diagnostic test completes execution. Information contained within this event details when the test completed, test result and result status information.

s Statistical Log Content

The statistical log counts miscellaneous events occurring within the subsystem. These counters are grouped by statistic types as shown in Table 7-18. Table 7-18. Statistic Event Types ST=01 ST=02 ST=03 ST=04 ST=05 ST=06 ST=07 ST=10 ST=11 LMU LAN Statistics LMU ATHS Statistics LMU Host Request Statistics LMU Host Interface Statistics LMU IPM Statistics LMU Floppy Statistics LMU Temperature/Voltage Statistics LSM Theta Statistics LSM Z Statistics

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Table 7-18. Statistic Event Types (Continued) ST=12 ST=13 ST=14 ST=15 ST=16 ST=17 ST=18 ST=19 ST=1A ST=1B ST=1C ST=1D ST=1E ST=1F ST=20 ST=21 LSM Wrist Statistics LSM CAP Statistics LSM Roll Statistics LSM Reach Statistics LSM Finger Statistics LSM PTP Statistics LSM VOLSER Read Statistics LSM Lamp Statistics LSM Drive Statistics LSM Fine Position Statistics LSM Complex Motion Statistics LSM LAN Statistics LSM Panel Calibration Statistics LSM Performance Statistics LSM Alignment Statistics LSM Temperature/Voltage Statistics

s Statistical Log Event Types

All statistic types have a common 14-byte header followed by a unique data structure which describes the logged statistic in detail. Each type has an associated identifier definition accessible through the List command ID option. This option allows you to filter entries based on which IPM, LSM, floppy disk drive (FDD), and so forth is being targeted (see the individual statistic type, which follows). The following sections describe each of the above statistic type data structures.

LMU LAN Statistics (ST=01, ID=000x)

This statistic contains the following LMU LAN information: the number of messages sent and received and the various counts of soft/hard failures. The option ID selects LAN 0 or 1 information only.

LMU ATHS Statistics (ST=02, ID=000x)

This statistic contains LMU automated tape handling information on a per LSM basis. This information consists of LSM arm usage (total operation time) and

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Statistical Log Event Types

number of master PTP accesses. The option ID selects LSM 0F, information only.

LMU Host Request Statistics (ST=03, ID=00xx)

This statistic contains host request information on a per interface processor module (IPM) basis. This information consists of the number of requested operations (mounts, moves, CAP accesses, and so forth). The ID option selects IPM 116, information only.

LMU Host Interface Statistics (ST=04, ID=00xx)

This statistic contains host interface information on a per IPM basis. This information consists of the number of blocks sent and received along with errors detected. The ID option selects IPM 116, information only.

LMU IPM Statistics (ST=05, ID=00xx)

This statistic contains IPM information per IPM, consisting of the number of messages sent and received along with internal error information. The ID option selects IPM 116, information only.

LMU Floppy Statistics (ST=06, ID=000x)

This statistic contains floppy operation attempts on a per floppy disk drive basis. This information consists of attempts, retries, recoverable errors, and unrecoverable errors for each FDD. The ID option selects FDD 1 or 2, information only.

LMU Voltage/Temperature Statistics (ST=07)

This statistic lists the A-to-D conversions (hexadecimal values) of the various LMU temperature and voltage sensors. For each sensor a minimum, maximum, and last reading is printed. These values are collected from the time of LMU IPL and are not reset by error log downloading. The following equations can be used to convert the displayed hex values to appropriate units, where x is the displayed hexadecimal value converted to decimal, and v is the voltage being converted: Voltage (volts): (((( x / 255 ) * 5 ) * v ) / 2.5 ) Temperature (F): ((((( x / 255 ) * 5 ) * 10 ) * 1.8 ) + 32 )

LSM Theta Statistics (ST=10)

This statistic contains initialization and calibration counts, total operation and retry counts, and total absolute distance traveled count.

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LSM Z Statistics (ST=11)

This statistic contains initialization and calibration counts, total operation and retry counts, and total absolute distance traveled count.

LSM Wrist Statistics (ST=12)

This statistic contains initialization and calibration counts, total operation and retry counts, and total absolute distance traveled count.

LSM CAP Statistics (ST=13)

This statistic contains initialization and calibration counts, total operation and retry counts, and total absolute distance traveled count.

LSM Roll Statistics (ST=14, ID=000x)

This statistic contains initialization and calibration counts, total operation and retry counts, and total absolute distance traveled count. The ID option selects Hand 0 or 1 information only.

LSM Reach Statistics (ST=15, ID=000x)

This statistic contains initialization and calibration counts, total operation and retry counts and total absolute distance traveled count. The ID option selects Hand 0 or 1 information only.

LSM Finger Statistics (ST=16, ID=000x)

This statistic contains initialization and calibration counts, total operation and retry counts and total absolute distance traveled count. The ID option selects Hand 0 or 1 information only.

LSM PTP Statistics (ST=17, ID=000x)

This statistic contains initialization and calibration counts, number of transfers to master/slave sides and total move operations for a PTP/CEM. The ID option selects Master PTP/CEM 0 or 1, information only.

LSM VOLSER Read Statistics (ST=18)

This statistic contains total number of read operations performed on a per hand basis; number of empty, un-read, partially read and bad character comparisons encountered are also recorded. The number of character comparison failures is also maintained on a per-character basis for each hand.

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LSM Transport/Drive Statistics (ST=1A,

LSM Lamp Statistics (ST=19, ID=xxyy)

This statistic contains initialization and calibration counts, total lamp on transitions and total time on count. The ID option selects Hand (xx is 0/1) and Lamp (yy is 00 for left, yy is 01 for right).

s LSM Transport/Drive Statistics (ST=1A, ID=xxyy)

This statistic contains the number of gets, puts, reads, move only and communication attempts performed to each transport. The ID option selects a particular transport where xx is a TU (03) and yy is the transport (03).

LSM Fine Positioning Statistics (ST=1B, ID=00xx)

This statistic contains the number of operations, retries and failures as well as Theta and Z adjustments on a panel by panel basis. The ID option selects a particular panel (01B).

LSM Complex Motion Statistics (ST=1C, ID=00xx)

This statistic contains the number of operations, retries and failures for each hand complex motions (get, put, move and move read) on a panel by panel basis. The ID option selects a particular panel (01B).

LSM LAN Statistics (ST=1D, ID=000x)

This statistic contains LSM LAN information consisting of number of messages sent, received, and the various counts of soft/hard failures. The option ID selects LAN 0 or 1 information only.

LSM Panel Calibration Statistics (ST=1E, ID=000x)

This statistic consists of the number of successful and failed panel calibrations. The ID option selects a particular panel (01B).

LSM Performance Statistics (ST=1F, ID=000x)

This statistic contains performance data (such as dither and drag) related to individual mechanisms. For more performance statistic information, see Status Command in Chapter 12, Utility Environment. Table 7-19 on page 7-27 indicates acceptable ID option selection values.

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LSM Transport/Drive Statistics (ST=1A,

Table 7-19. ID Option Selection Values for LSM Performance Statistics ID 0 1 2 3 4 5 6 7 8 Mechanism Theta Z Wrist Roll0 Roll1 Reach0 Reach1 PTP0 PTP1

LSM Alignment Statistics (ST=20, ID=000x)

This statistic contains panel alignment data. This data is unsubstantiated at this time and should not be used to perform fault isolation. This log entry was created as a method of feedback for engineering to determine whether the information can be useful for isolation in a future release. The following list indicates acceptable ID option selection values. Table 7-20. ID Option Selection Values for LSM Alignment Statistics ID 0 1 2 3 4 Target Inner panels Outer panels Drive panels CAP panels PTP panels

LSM Voltage/Temperature Statistics (ST=21)

This statistic lists the A-to-D conversions (hexadecimal values) of the various LSM temperature and voltage sensors. For each sensor a minimum and maximum last reading is printed. These values are collected from the time of LSM IPL and are not reset by error log downloading. The following equations can be used to convert the displayed hexadecimal values to appropriate units, where x is the displayed hexadecimal value converted to decimal.

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LSM Transport/Drive Statistics (ST=1A,

Voltage conversions: Voltage Voltage Voltage Voltage Voltage (+35): (( x / 255 ) * 50 ) (+/-12): (( x / 255 ) * 13.5 ) (+/-13): (( x / 255 ) * 16 ) (+5): (( x / 255 ) * 5.5 ) (+2.5): (( x / 255 ) * 5 )

CLX temperature conversion: Temperature (F): ((((( x / 255 ) * 5 ) / .0936) * 1.8) + 32) REI temperature conversion: Temperature (F): ((((( x / 255 ) * 5 ) / .1008) * 1.8) + 32)

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Field Replaceable Unit Environment

The Field Replaceable Unit (FRU) environment is used to update EC and compatibility information held in non-volatile storage. This storage is EEPROM for all card-type FRUs, and LMU floppy for the remaining non-readable (NRF) FRUs. For LSM NRF data, a copy of the floppy-based information specific to that LSM is kept in local LCU RAM and refreshed with each IPL or whenever updates are made. The remainder of this section uses FRU data to refer to any of the preceding storage.

s Command List
Table 8-1 lists the FRU commands. Table 8-1. FRU Environment Commands Command CN(ames) DO(wnload) EX(amine) LE(vel) LI(st) MO(dify) XP(print) Function Shows all FRUs in English text representations Sends all ACS FRU data to a maintenance device Shows detailed FRU information Shows level information for a device Shows all FRUs for a given device Modifies FRU ID information Toggles extended print functions on and off

Note: As a temporary measure, Powderhorn cards are represented with the existing 4410/11 card set. Some cards do not exist in a Powderhorn LSM (REI motherboard) and indicate FRU read failure when listed or modified. Access to the PLS0 and PLS1 cards has been provided through CLO0 and CLO1 respectively. This approach will be modified in a future code release so that FRU access is more appropriate for the LSM types.

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Cnames Command

s Cnames Command
Table 8-2 lists the Cnames command syntax. This command displays the card names in English, which you can use instead of the number obtained from the LI(st) command. Table 8-2. Cnames Command Command CN(ames) Parameters Function Displays card names

s Download Command
Table 8-3 lists the Download command syntax. Soultions Delivery Support (SDS) uses this command to retrieve current LMU and LSM configuration information. The information includes PROM and microcode levels as well as FRU information. Table 8-3. Download Command Command DO(wnload) Parameters Function Downloads FRU information to a maintenance device

s Examine Command
Table 8-4 lists the Examine command syntax. This command allows you to display the contents of specific FRUs in the LMU (CU for control unit) or LSM (device address). Table 8-4. Examine Command Command EX(amine) Parameters CU D(ev)=x Function Provides detailed information about the LMU FRU IDs Provides detailed information about a specific LSM (x is the address)

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Level Command

s Level Command
Table 8-5 on page 8-3 lists the Level command syntax. This command allows you to retrieve the current LMU or LSM level information. This includes firmware level, PROM date, and CRC value. Table 8-5. Level Command Command LE(vel) Parameters Function Displays LMU and LSM level information

s List Command
Table 8-6 lists the List command syntax. This command lists all FRUs for the specified device. Each FRU is assigned a number, starting at 0, which is used to access a specific FRU with the EX(amine) or MO(dify) commands. Information displayed includes the assigned number, slot location in which a card resides, and other specific information pertaining to each card. Table 8-6. List Command Command LI(st) Parameters CU D(ev)=x Function Lists the LMU FRUs Lists the LSM FRUs (x is the specific device, 0F)

s Modify Command
Table 8-7 lists the Modify command syntax. This command allows you to change the contents of specific FRUs in an LMU (CU) or LSM (device). The CU or device may be online during this operation and need not be re-IPLed after completion. Information for a field within the FRU contains information, such as serial number (S/N) and part number (PN), and is displayed one at a time. If no changes are required for a displayed field, press <RETURN> or <carriage return>. Table 8-7. Modify Command Command MO(dify) Parameters CU D(ev)=x Function Modifies the LMU FRUs Modifies the LSM FRUs (x is the specific device, 0F)

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Xprint Command

s Xprint Command
Table 8-8 lists the (extended print) XP(rint) command syntax. The XP(rint) command toggles extended print functions either ON or OFF. Table 8-8. Xprint Command Command XP(rint) Parameters Function Toggles extended print either ON or OFF

s Changing FRU ID Information

This section describes the procedures for changing FRU information within the library subsystem.

4410 Non-Readable FRU ID Modification

Depending on your model and its features, you may need to select and modify certain non-readable FRU IDs. See Table 8-9. Table 8-9. 4410 Non-Readable FRU IDs FRU ID A0 Description CAP Software Compatibility 00 01 00 01 00 01 00 01 21-cartridge Clipper Old New Old New Lead screw Belt-driven

A8

Dynamic brake relay

A9

Theta crash stop

AA

Z channel

If the 4410 LSM contains a belt-driven Z channel, make sure that the LV card software compatibility ID is 03. When the FRU IDs are modified, force a long initialization of the 4410 LSM(s). See Chapter 12, Utility Environment. To make changes to FRU information, begin by entering the FRU environment. To make changes to CU FRU information, enter either LI(st) CU or CN(ames).
LI(st) CU provides a listing of FRUs, with FRU numbers in the left column of

the listing.
CN(ames) provides card names.

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Changing FRU ID Information

Either a number or card name is required to examine or modify a particular FRU chip. Proceed with the following steps: 1. Enter EX(amine) CU ID (where ID is a valid number from the preceding LI(st) CU output or card name). The display provides the following information: Machine Type (006 = LMU, 008 = LCU, and 004 = REI cards), card type, S/N, PN, EC level, modification flags, software and hardware-compatibility levels, and software features level. 2. Enter MO(dify) CU ID (where ID is a valid number from LI(st) CU output above or card name). The display steps through each of the fields of the FRU information. If a field does not require change, press <carriage return> to advance to the next field. 3. Enter changes to the affected fields. Entries are right justified with 0 padding on the left. When the last field has been changed, or advanced through a <carriage return>, the display lists the changes that were made. The Are you sure (Y/N)? message is the last one displayed. 4. If the changes were made correctly, enter Y; if not, enter N and repeat the MO(dify) CU ID command.

Special Considerations for Dual LMU

To establish a dual LMU configuration, you must modify the LMU_S_N FRU ID. The MO DE=CU LMU_S_N command starts the modification sequence. Continue entries (by pressing <Enter>) until Current LMU Status is... displays. The previous line indicates the values associated with the STAND-ALONE, DLMU-A (initial master), and DLMU-B (initial standby) states. One of these values must be entered to modify the current state. The second LMU must be configured as the alternate DLMU (A instead of B) whenever two LMUs are attached to the same set of LAN cables. You must re-IPL both LMUs after their configurations are changed.

Performance Enabling or Disabling for a 4411 LSM

To enable performance on a LSM, the hardware-compatibility level must be changed on the LCU motherboard (CLT card) for every LSM that needs a performance change. Before this performance option is enabled, you must pay careful attention to the instructions presented in the firmware installation instructions. Specifically, the LSM should pass the FE0 diagnostic with no tilted arrays.

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To turn performance ON:

Change the hardware-compatibility level to 01 under the CLT card for the required device. IPL the LSM that was changed.

To turn performance OFF: Change the hardware-compatibility level to 00 under the CLT card for the required device. IPL the LSM that was changed. Note: These instructions pertain only to the 4411 LSM.

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Library Diagnostic Language

The Library Diagnostic Language (LDL) environment provides single command line support for mount and dismount operations. The operations are limited to the LSM-resident diagnostic cartridges and cells, and off-line transports. These operations may not span multiple LSMs due to the home-cell requirements of the diagnostic cartridges. The target LSM may be in any state: online, offline, or maintenance mode. If offline, the LSM will be temporarily varied to maintenance to perform the operation. If online, normal allocation procedures are followed causing your requests to interleave with customer activity. The operations behave as if executing from another host; in fact, when searching the error log for failure data, host ID 60001 may be used as a filter.

s Command List
Table 9-1 lists the LDL command set. Table 9-1. LDL Environment Commands Command CATD DMTD MNTD MOVD SPWD VIEW Function Catalogs the diagnostic cells Dismounts the drive to a diagnostic cell Mounts the diagnostic cartridge to a drive Moves the diagnostic cartridge to a cell Swaps the drives Positions the hand/camera

s CATD Command
Table 9-2 on page 9-2 describes the CATD (catalog) command syntax. This command catalogs a diagnostic cell. The behavior of this command lets you only catalog a single cell position per command.

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DMTD Command

In the following example, the command selects LSM 4, catalogs the cartridge in Panel 10 Row 0 Column 0, and returns the VOLSER to the screen: MM/DD/YY hh:mm:ss LDL> CATD 4 100000 Table 9-2. CATD Command Command CATD Parameters lsm src Function Catalogs the diagnostic cell in LSM (015) The source cell panel row column (pprr00)

s DMTD Command
Table 9-3 describes the DMTD (dismount) command syntax. This command dismounts a diagnostic cartridge from an offline transport to any diagnostic cell location. If the cell location is a diagnostic home cell (on a drive panel), VOLSER comparison is forced (based on fixed cartridge mapping) and any VOLSER you may enter is ignored. In general, a VOLSER must be entered to enable comparison. In the following example, the command selects LSM 4, unloads Transport 02 on Panel 10, and places the cartridge at Panel 10, Row 00, Column 00. (In this case, the DG_004 VOLSER entry is unnecessary since the destination is a home cell location and VOLSER checking will occur anyway). MM/DD/YY hh:mm:ss LDL> DMTD 4 100200 100000 DG_004 Table 9-3. DMTD Command Command DMTD Parameters lsm src dest volser Function Dismounts the diagnostic cartridge in the LSM (015) The source transport location (pprr00) The destination panel row column (pprrcc) An optional VOLSER for comparison

s MNTD Command
Table 9-4 on page 9-3 describes the MNTD (mount) command syntax. This command mounts a diagnostic cartridge from any diagnostic cell location to an offline transport in the same LSM. If a VOLSER is specified, a match is expected; otherwise, VOLSER comparison is disabled. In the following example, the command selects LSM 4, retrieves the cartridge at Panel 10, Row 00, Column 00, and places it in the transport on Panel 10,

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Row 02 (the column, although meaningless, must be specified). The cartridge is expected to be DG_004 (the underscore character is a blank character). MM/DD/YY hh:mm:ss LDL> MNTD 4 100000 100200 DG_004 Table 9-4. MNTD Command Command MNTD Parameters lsm src dest volser Function Mounts the diagnostic cartridge in LSM (015) The source panel row column (pprrcc) The destination transport (pprr00) An optional VOLSER for comparison

s MOVD Command
Table 9-5 describes the MOVD (move) command syntax. This command moves a diagnostic cartridge from any diagnostic cell location to another diagnostic cell in the same LSM. If a VOLSER is specified, a match is expected; otherwise, VOLSER comparison is disabled. In the following example, the command selects LSM 4, retrieves the cartridge at Panel 10, Row 00, Column 00, and places it in the cell on Panel 10, Row 00, Column 01. The cartridge is expected to be DG_004. MM/DD/YY hh:mm:ss LDL> MOVD 4 100000 100001 DG_004 Table 9-5. MOVD Command Command MOVD Parameters lsm src dest volser Function Moves the diagnostic cartridge in LSM (015) The source panel row column (pprrcc) The destination panel row column (pprrcc) An optional VOLSER for comparison

s SWPD Command
Table 9-6 on page 9-4 describes the SWPD (swap) command syntax. This command results in the swapping of a diagnostic cartridge on one transport to another transport in the same LSM. If a VOLSER is specified, a match is expected; otherwise, VOLSER comparison is disabled.

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VIEW Command

In the following example, the command selects LSM 4, retrieves the cartridge in Transport 0 and mounts it into Transport 2 on Panel 10. The cartridge is expected to be DG_004. MM/DD/YY hh:mm:ss LDL> SWPD 4 100000 100200 DG_004 Table 9-6. SWPD Command Command SWPD Parameters lsm src dest volser Function Moves the diagnostic cartridge in the LSM (015) The source transport (pprr00) The destination transport (pprr00) An optional VOLSER for comparison

s VIEW Command
Table 9-7 on page 9-5 describes the VIEW command syntax. This command allows positioning of an LSM camera to any logically defined cell. This includes the addressing of cell arrays, transports, pass-thru ports/cartridge exchange mechanisms, and the cartridge access port. The vision system is not used to target or fine position, but rather to view a questionable LSM target. Motion errors, however, may lead to recalibration movements that include the vision-supported positioning at the panel ID location. This operation may result in the return of fine positioning failures. Unless the LSM is offline, when your specified hold time expires (the default is 1 second), the LSM continues with other, online customer work. The hand used is random (as selected by the LMU) and (currently) there is no provision for selecting which hand is used. Care must be taken not to make an assumption about what is seen via a single monitor, as it could be the view from the other camera. In the following example, the command queues a hand motion on LSM 4 to the cell at Panel 10, Row 11, Column 09 and holds for one second before other motions proceed. MM/DD/YY hh:mm:ss LDL> VIEW 4 101109 In the following example, the command queues a hand motion on LSM 4 to the drive located at Panel 09, Transport 01 and the camera will hold for 10 seconds. Also, the camera is positioned in the drive orientation. MM/DD/YY hh:mm:ss LDL> VIEW 4 DRV 090100 10

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VIEW Command

Table 9-7. View Command Command VIEW Parameters lsm type Function The LSM address (015) The optional destination type: dest time DRV (transport) CAP (cartridge access port) PTP (pass-thru port/cartridge exchange mechanism)

The destination address panel row column (pprrcc) The hold time in seconds (115)

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Machine-Initiated Maintenance Environment

10

Machine-Initiated Maintenance (MIM) provides the telecommunication of machine faults to a central support facility immediately upon detection. This requires that the unit under test (UUT) be attached to a StorageTek standard modem or to a modem with connections to a machine activated routing switch (MARS+). The MARS+ is a multiplexor device that allows multiple device types to share a single modem. Turning MIM ON or OFF is accomplished by issuing single commands from within the MIM environment. The LMU does not need to be re-IPLed. Other commands are used to adjust call timing, test call capability, and list stored MIM events (unsuccessful calls). MIM calls are driven by the detection of faults or the expiration of the download timer. This allows Soultions Delivery Support (SDS) to establish machine reporting intervals and ensure the regular collection of machine statistics. Once activated, the solutions delivery engineer (SDE) typically disables MIM only for devices needing service. Disabling is necessary if the control unit or device is expected to be IPL-ed repeatedly. With each IPL, the last MIM configuration is read from the floppy diskette and, if faults are present and MIM is enabled, a call will be attempted. MIM is designed to re-arm itself automatically so that no further action is required by the SDE; permanent disabling is described in Disable Command on page 10-2.

s Command List
Table 10-1 lists the MIM environment command set. Table 10-1. MIM Commands Command EN(able) DI(sable) LI(st) Function Enables MIM auto-dialing Disables MIM auto-dialing Lists the MIM event buffer

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Table 10-1. MIM Commands (Continued) Command SE(t) TE(st) Function Queries and/or changes the MIM parameters Initiates a test call

s MIM Categories
Table 10-2 lists the different types of MIM categories. The types of faults detected by MIM are best described by the corporate standard, CTS-2-1-28. Briefly though, faults are grouped into Categories 0 through 7, with 0 being the most severe. Table 10-2. MIM Categories Category 0 1 2 3 4 5 6 7 Description Unit inoperable Unit degraded Threshold error: potential unit failure Threshold error: out of tolerance detected Reserved Event log download Trace download SDE-/RDE-initiated test

s Enable Command
Table 10-3 lists the Enable command syntax. This command allows the MIM download timer and certain error log conditions to initiate service calls. Table 10-3. Enable Command Command EN(able) D(ev)=x Parameters Function Enables the subsystem for MIM calls Selects a specific LSM for MIM calls, where: x is the LSM address (0F)

s Disable Command
Table 10-4 on page 10-3 lists the Disable command syntax. This command reverses the effect of the EN(able) command. No further calls are initiated even though error events are logged for the specified device. If no device is

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List Command

specified, calls are suppressed for the entire subsystem. Likewise, EN(able) (without arguments) restores the individual device to its previously enabled state. Table 10-4. Disable Command Command DI(sable) D(ev)=x Parameters Function Disables the subsystem for MIM calls Disables a specific LSM for MIM calls, where: x is the LSM address (0F)

s List Command
Table 10-5 describes the List command syntax. This command displays all outstanding MIM categories for the subsystem. As an option, the list may be requested per device, which results in a more detailed display of individual events. The MIM event buffer may contain up to 10 entries. These are cleared when the event log is successfully downloaded by SDS. All Category 7 events (test calls) will be cleared as soon as the call is received by the SDS. Events remain in the buffer as long as a MIM call is in progress or after a MIM call has failed. This may indicate a MARS+, modem, or cabling problem. Other sources of failure may be incorrect modem programming or a SDS line-busy condition. Table 10-5. List Command Command LI(st) D(ev)=x D(ev)=CU Parameters Function Lists the MIM events Lists the MIM events for a specific device, where: x is the LSM address (0F) or CU for the LMU

s Set Command
Table 10-6 on page 10-4 lists the Set command syntax. This command allows the querying and setting of MIM parameters. This involves the download timing values, account type (partial or full service), and closure time (relevant to Category 0 and 1 calls).

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Test Command

Table 10-6. Set Command Command SE(t) DT(imer) 0 day hh:mm DT(imer) wks day hh:mm Parameters Function Queries the MIM settings Sets the day count-based timing: day is MON, TUE, WED, and so on hh:mm is military time (023 and 059) Sets the week count-based timing: wks is the number of weeks (199) day is MON, TUE, WED, and so on hh:mm is military time (023 and 059) Sets either full or partial service handling; for example: SE AC FULL is full service Sets the closure timeout, where: x is 0999 hours

AC(count) FULL | PART CL(ose) x

PH(one) 1 or 2 Selects the telephone number for calls

s Test Command
Table 10-7 describes the Test command syntax. This command triggers a call for the purpose of checking MARS+ and modem behavior. This command displays each of the states entered in the course of a MIM call and verifies that all were detected. The SDS recognizes this call as a test call and normally terminates immediately. If a prior call attempt had required a log download but had failed, the test call is then handled as a download request. Table 10-7. Test Command Command TE(st) Parameters 1 or 2 Function Test call using Modem 1 or 2

s MIM Installation Requirements

Certain hardware must be installed and configured on the LMU before MIM can be activated. The following is a checklist: 1. The 4430 CLB card must be at Level 410217306 (EC 27654) or higher and the prerequisite ECs 19496 (motherboard) and 19772 (filter) must be installed. 2. The LMU motherboard jumper on Slot C1 (CLB card) between Pins C33 and C34 must be cut in order to enable full CCITT line control on the

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remote maintenance port. (If a 392X is required to be used on this port at a later time, a jumper must be re-installed across these same pins). 3. An RJ-45 adapter (PN 410766301) must be installed on the remote maintenance port. 4. The MARS+ and modem must be initialized as specified in the set-up guide (PN 9854) that is distributed with each MARS unit.

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11

The Standard (STD) environment provides device (LSMs) selection and test execution control. LSMs targeted must be reserved (offline to the customer), but the tests themselves execute at the LMU, inline with customer operations to other LSMs. Additional features include the querying of available test IDs and current device selections.

s Command List
Table 11-1 lists the STD environment commands. Table 11-1. STD Commands Command AU(dit) LO(ad) RU(n) SE(lect) Function Lists the diagnostic test IDs Loaded a single test to the execute buffers Executes an individual test or groups of tests Selects a device (LSM) for testing

s Audit Command
Table 11-2 lists the Audit command syntax. This command displays the tests available for execution. Table 11-2. Audit Command Command AU(dit) XP(rint) Parameters Function Displays a simple list of diagnostic test IDs Displays a list of diagnostic tests that includes title and level of the test

s Load Command
Table 11-3 on page 11-2 lists the Load command syntax. This command reads a test overlay into memory. The command is useful when a test is to be modified before execution, but is not normally used.

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Table 11-3. Load Command Command LO(ad) Parameters xxx Function Loads test into buffer, where: xxx is the test ID

s Run Command
Table 11-4 lists the Run command syntax. This command executes a test or group of tests and specifies options affecting their execution. The parameter following the RU(n) keyword specifies the tests to be executed. If a single test number is specified, the test loads into memory and executes. If a range of test numbers is specified, all available tests within the specified range (including starting and ending test numbers) load and execute. If an invalid test number is entered, an error indication results. The A(ll) parameter causes the execution of all tests except those in the E00 and F00 sections. To execute an extended duration or manual intervention test, the test number must be specified. Table 11-4. Run Command Command RU(n) xxx xxx-yyy Parameters Function Runs loaded test Runs Test xxx, where: xxx is the test ID Runs a group of tests, where: xxx is the starting test ID yyy is the ending test ID Runs all tests Continues to the next test

A(ll) C(ontinue)

Table 11-5 lists the control modifiers for the RU(n) command. Table 11-5. Run Command Control Modifiers Modifier B(ypass) L(oop) R(esume) Description Bypasses all output. If an error is detected and R(esume) is not specified, the test stops without displaying any results. Loops a single test or group of tests Resumes execution if an error is detected

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Table 11-6 lists the test modifiers for the RU(n) command. Table 11-6. Run Command Test Modifiers Modifier PA(rm)-pppp XR(un) XP(rint) Description Test-modifying parameter Extended run Extended print

s Select Command
Table 11-7 depicts the Select command syntax. This command selects up to 16 devices or relinquishes those no longer needed. They are varied to Maintenance mode, protecting them from customer usage. As long as the LMU is able to internally change its allocation (not on-line), you are granted use of the device. Successful LSM communication is unnecessary. Devices are tested in the specified order if simultaneous testing cannot be performed. The SE(lect) * command creates a table of all devices that are offline. If the device is online, it is not added to the table and a message indicating this is displayed. The SE(lect) n command creates a table of all specified devices that are offline. If the device is online, it is not added to the table and a message indicating this is displayed. Valid entries for n are 0F or 015. The SE(lect) CLR command releases all reserved (varied offline) devices.

Table 11-7. Select Command Command SE(lect) * n(,n(,...)) CLR Parameters Function Displays the current selection Selects available offline devices Selects specified devices, where: n is the device address Deselects (clears) all devices

CAUTION: Level 3.3 firmware change: LSM Maintenance mode behavior has been changed at Level 3.3 of the 4400 control code. To support Test F50/F60 reiteration, LSMs in Maintenance mode will no longer re-initialize due to door/LAD closure. This is a more protected Maintenance mode than in the past.

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It is important that SDEs deselect devices as soon as testing is complete so customers do not encounter a perceived unavailable LSM. This LSM de-selection will also force LSM re-initialization. This re-initialization should be allowed to complete if re-selecting the same device. Note: LSM display of Maintenance mode is reset upon door closure even though initialization has not begun. This ambiguous display condition will be corrected in Release 3.4.

s Testing Procedure
Fault diagnosis may be done by entering the STD testing environment, selecting a target LSM, and issuing a RU(n) A(ll) command. However, you may generally target a more specific area for testing and improve fault isolation efficiency. During the IPL of any device, faults may be detected by the PROM or boot environments before reaching the functional level. This halts the bring-up procedure and displays SERVICE REQUIRED and a four-digit fault symptom code (FSC). Use the FIXIT data base or the maintenance device floppy disk to determine the meaning of the FSCs. Press the RESET pushbutton to acknowledge them and continue. Generally, the faults must be resolved before allowing customer usage. Another area of automatic testing involves LSM initialization. The four initiators of this procedure are: An LMU IPL leading to the initialization of all communicating LSMs The completion of an LSM IPL An LSM door closing event A host-requested force offline to a specified LSM

If the initializing LSM has a faulty arm (theta, Z, or wrist), two inoperative hands, or a calibration problem, SERVICE REQUIRED displays. The message scrolls the failing procedure (such as INIT WRIST). With this type of display present, the error log would contain specific fault data and the 400 diagnostic series would be the best choice for detection and verification. With a successful initialization, OFFLINE displays on the front panel with LSM ACTIVE off. Due to fault tolerance on the part of initialization procedures, it is possible to have non-operational mechanisms (hands or PTP/CEMs) following a successful initialization. These and any customer online problems are shown in the error log. Use the 500800 series of tests to detect and verify this level of problem. The tests require the use of both hands and would indicate a fault, even though the initialization procedures accepted a redundant mechanism fault.

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Follow-up to LSM Initialization Failure Display

With the LSM displaying SERVICE REQUIRED and INIT... scrolling, fault isolation is best performed by selecting the LSM and executing the 400 series of diagnostic tests. Each mechanism is exercised in the sensor initialization routine. Specific error conditions are returned as an event buffer from the LSM (see Chapter 7, Error Log Environment). The test displays these events as follows: 0560 0000 Roll 0: Mechanism not enabled, etc. 0550 013A Roll 0: Motor unplugged or open DBR 9400...7DFE Roll 0 Statistic: Init failed If the XP(rint) modifier was specified with the RU(n) command, a hexadecimal display of test execution status displays, such as: Status Status Status Status [ 0] [ 8] [16] [24] 0000 17D3 0004 0000 0100 8100 0000 0000 0000 0008 7DFE 0000 0000 0560 0000 0000 0000 0000 0000 0000 0000 0550 0000 0000 0000 013A 0000 0000 0000 9400 0000 0000

This information is the raw sense information of the preceding text. In some cases, it could provide engineering additional information or may be referred to by test output.

Error Log-Indicated Failures

LSM initialization results are recorded in the error log, along with detailed mechanism failure data. The Error Log environment described in Chapter 7, Error Log Environment, and examples in Appendix A, Event Log, provide information about accessing this information.

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Utility Environment

12

The Utility (UTL) environment provides various functions needed by the solutions delivery engineer (SDE). This includes setting the RS-232 port baud rate, remote IPLs, examining machine status, setting the time-of-day (TOD) clock, setting soft logging access, and system status display.

s Command List
Table 12-1 lists the UTL command set. Table 12-1. UTL Environment Commands Command BA(ud) IN(stall) IPL LO(g) SI(teloc) ST(atus) T(od) Function Sets the baud rate for the remote port Installs new releases of microcode Performs a remote IPL Switches LSM soft logging Updates the accounts site location Examines the status of devices Sets the time-of-day clock

s Baud Command
Table 12-2 on page 12-2 lists the Baud command syntax. This command allows the examination or setting of the remote ports default baud rate, such as the rate at which it initializes at IPL. This data is maintained in non-volatile storage (the motherboards device/frame identifying EEPROM). The baud rate does not change immediately when the request is issuedthe LMU must be re-IPLed. You are notified if the EEPROM cannot be written.

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Install Command

Table 12-2. Baud Command Command BA(ud) rate Parameters Function Queries current baud rate selection Sets the remote port baud rate, where rate is: 1200 2400 4800 9600

s Install Command
Table 12-3 lists the Install command syntax. This command copies site-specific information from a previous release to a new functional disk. This includes: Subsystem configuration data Non-readable FRU information Site location.

This command may also be used to copy the same information to backup copies of functional disks. It is important that the new disk be booted and left in the top drive before entering this command. The display prompts you for disk changes as they are needed. Table 12-3. Install Command Command IN(stall) Parameters Function Copies site unique information

s IPL Command
Table 12-4 on page 12-3 lists the IPL command syntax. This command starts an LSM IPL sequence for both local and remote users through the LMU. As an option, LSM non-volatile RAM may be cleared. This forces recalibration (or a long initialization) of the robot upon completion of the IPL. Typically, this option is used when re-configuring an LSM or replacing any of its mechanisms. To use this command, the LCU must be at a functional level of communication and offline. If the LCU is to be powered off for servicing, it would save time to issue the LONGINIT command first, then powering off the LCU as soon as the IPL starts. When the LCU is subsequently powered-on, the long initialization will be evident by the full camera and panel recalibrations.

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Table 12-4. IPL Command Command IPL Parameters D(ev)=x D(ev)=x LONG Function IPLs a specific LSM, where: x is 0F. IPLs a specific device and performs a long initialization.

s Log Command
Table 12-5 lists the Log command syntax and Table 12-6 lists the accepted identifiers. The Log command provides you with the ability to enable logging of soft errors for a selected LSM. Soft errors are defined as operations requiring retries before completing successfully. You can request the logging of: All soft errors Soft errors for selected mechanism groups Soft errors which match a range of servo error codes A combination of mechanism and code range criteria.

You can also query current soft error switches for a given LSM. Soft logging switches will remain set until you reset them or the LSM is re-IPLed. Note: Be sure to restore switches to their inactive states when not needed. Some switch settings guarantee error log entries, even with normal customer activity. Log wrapping may result. Table 12-5. Log Command Command LO(g) Parameters D(ev)=x Q(uery D(ev)=x A(ll) D(ev)=x C(lear) D(ev)=x E(rror) <mod> Functio n Queries all switch settings Sets all switches Clears all switches Sets error switches, must input a modifier value: Modifier values: A(ll) CL(ear) M(ech)= Sets all error switches Clears all error switches Selects error mechanisms= xxx[,yyy,...] Selects error codes= xxxx[,yyyy,...]

CO(de)=

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Table 12-6. Mechanism Identifiers Identifier FI0 FI1 TH Z WR RO0 RO1 RE0 RE1 PT0 PT1 CA0 CA1 LL0 LR0 LL1 LR1 AD CAP Description Finger 0 Finger 1 Theta Z Wrist Roll 0 Roll 1 Reach 0 Reach 1 PTP/CEM 0 PTP/CEM 1 Camera 0 Camera 1 Lamp Left 0 Lamp Right 0 Lamp Left 1 Lamp Right 1 Access Door Cartridge Access Port (CAP)

s Siteloc Command
Table 12-7 lists the (site location) Siteloc command syntax. The SIT(eloc) command provides for the update/display of subsystem site location information. The site location identifier is used to identify data downloads from the subsystem. This value can be anywhere from five to eight decimal characters in length. Table 12-7. Siteloc Command Command SIT(eloc) xxxxxx Parameters Function Displays the current site location Updates the site location, where: xxxxx is five-to-eight characters in length

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s Status Command
Table 12-8 lists the Status command syntax. This command displays a general view of subsystem condition. Several levels of the command may be requested: LMU communications LMU knowledge of device status, LSM view of mechanism performance.

Table 12-8. Status Command Command ST(atus) CU D(ev)=x D(ev)=x P(erf) Parameters Function Displays LMU communications status Displays LMU communications status Displays LSM status, where: x is 0F Displays LSM performance statistics, where: x is 0F

LMU Communication Status

This category includes the operating status of each 3270 interface (IPM), the two LANs, and each of the LSMs. In addition, data reveals whether the LSMs were able to communicate on both LANs or only on one, based on the result of IPL-time testing. The keywords used at this level are: OK NONE IN-OP Operative IPM, LAN, or LSM Non-existent IPM or LSM EXT ERRORS For IPMs: no LMU bus communications or host not responding (see card edge) For LANs: IPL time failure encountered

LMU detected external LAN error while polling

NOT COMMUNICATING Configured but non-communicating LSM LAN 0 ONLY LAN 1 ONLY READY NOT READY LSM answers polls only for LAN 0 LSM answers polls only for LAN 1 LSM is initialized and ready LSM initializing, failed initialization, or configuration error

Note: On LMU IPL, IPM status initializes to IN-OP until internal testing is completed (almost immediate). At this time, the IPM transition to OK indicates successful LMU bus communication, but not the existence of

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terminal control unit polling (card edge LEDs can help distinguish this difference). After a host is communicating, the status reverts to IN-OP only if the host fails to acknowledge a message. The host must regain communication before OK re-displays. This does not necessarily indicate LMU hardware failure.

LSM Status
Changes appear after a polling retry sequence (approximately 15 seconds). Also, the LSM status indicating which LANs may be used is set only once: when the LMU is IPLed. This is misleading if an LSM is either powered off, disconnected, or in mid-IPL when the LMU is IPLed. LSM status is determined by the LMU. This includes information concerning operational and allocation status of the specific LSMs mechanisms. The LMU resolves to the arm and hand level, whereas the LSM has operational information on theta, Z, wrist, and so forth. The first lines of the display indicate: ONLINE OFFLINE LSM available for customer use Not reserved by customer or diagnostics

OFFLINE PENDING In transition toward offline READY LSM is initialized and ready

NOT READY (...) A message indicating reason for not ready For each allocatable mechanism within the LSM, the following are possible: OK IN-OP ALLOCATED FREE SLOT USAGE Operative mechanism Inoperative mechanism The mechanism allocated due to a host request Not allocated Pertains to in-transit cartridges (first number) and PTP/ CEM slots (second number); examples are: 0/1 denotes no cartridges left in one available CEM slot (9320 CEM) 0/4 denotes no cartridges left in four available PTP slots (4420 PTP)

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Tape Transport/Drive Status

This is derived from LSM communication. The time to determine this may be extensive if the LSM is not communicating or is powered off. The possible transport status displays are: T=nn Good transport communication, where nn is: 64 for 4480 transports 32 for 9490 (TimberLine) transports 16 for SD-3 (RedWood) transports 08 for 4490 (Silverton) transports Tape hardware interface failure Not communicating (not terminated) Transport not installed (terminated) LSM not communicating Unexpected LSM response (probably busy)

IF NC NI LSM ERR (blank status)

In addition, panel numbers are displayed for the PTP/CEM and CD walls to aid the location of a failing mechanism.

LSM Performance Data

This is a unique set of information that provides you advanced warning of impending failures. In the 4400 electro-mechanical system, some proportion of failure modes are characterized by slow, detectable degradation. The motion control software monitors three carefully chosen performance indicators per mechanism to detect such problems before they impact the customer. If an error is impending, corrective action can be scheduled at a convenient time. 1. The first performance indicator measures the absolute value of the worst position error seen during a move since the basic task of any motion control system is to maintain position. Because a wide range of problems can affect the ability to maintain and track a position profile, this is called a broad indicator. To actually isolate the problem, further diagnostics are required. If the position error is well-controlled, then there is little reason to suspect that this part of the system is malfunctioning, although exceptions may occur. 2. The second performance indicator is called dither and is a measure of the stability of the servo control loop. Theory and experience have shown that this indicator is affected by relatively few problems, in contrast to the measure of position error, so it is called a narrow indicator. Poor dither statistics usually point to some mechanical looseness between the motor and its inertial load. This can be a loose belt, screw, or other mechanical

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TOD Command

problem. Slippage of a pulley on a shaft usually maintains enough friction that it does not affect this parameter. Look instead for something more like gear backlash. The dither statistic is a figure of merit, meaning it has no units and can range from 0 to infinity. Anything over 1020 for an average value is considered marginal, depending on the mechanism involved. 3. The third performance indicator measures drag. Like dither, this is a narrow indicator with relatively few potential causes. High drag statistics mean the mechanism involved is taking more power to start moving than it should. Usually this is caused by bad bearings, lubrication, a weak motor, or incorrect power amplifier gain. Because high drag contributes to stability, it is rarely accompanied by bad dither statistics. Drag is displayed in units relative to the power amps digital-to-analog (D/A) converter, where full power is +127 (amount of current depends on the particular mechanism). If the power required for acceleration exceeds the expected amount by more than 1/8 of full power, the drag is considered marginal. Each of these three performance parameters is collected separately for each mechanism and maintained on a statistical basis. After each move, the numbers obtained for that move are compared to certain limits and, if incorrect, a counter increments. If that move was positive-going, these numbers are then added into the statistical sum. For each statistic, the status command displays the average, the total number of moves this average is based on, and the minimum and maximum values seen since the data base was last cleared (each LSM IPL). In addition, the percentage of moves considered to be marginal is displayed. Note: A machine may run correctly, but have a non-zero marginal percentage. It is precisely these cases that are of interest. If the number of marginal cases exceeds 10% of the total number of moves, you should attempt to rectify the situation at a convenient time.

s TOD Command
Table 12-9 on page 12-9 lists the (time-of-day) TOD command syntax. The TO(d) command sets/examines current real time clock values in military format. This information timestamps error log entries and displays when you are connected to the LMU.

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Table 12-9. TOD Command Command TO(d) MM DD YY hh mm Parameters Function Displays current time-of-day setting Sets the time-of-day clocks, where: MM is the month (112) DD is the day (131) YY is the year (0099) hh is the hour (023) mm is the minute (059)

s Special Considerations for Dual LMU

In a Dual LMU configuration, new release firmware installation must be performed on both LMUs. A new functional disk must be installed on the LMU on which it is to be used. Site- and LMU-specific information must be copied from an LMUs previous functional disk to the new release version functional disk. After completing the IN(stall) command, re-IPL both LMUs and all LSMs (unless these were backup copies); see Install Command on page 12-2.

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Event Log

The event log determines the operation of the LSM. The event log contains a trace of the LSMs actions to accomplish a command that was issued by the LMU. Included in the trace information are error codes that support FRU isolation.

s General Information
The LMU holds the event log on the functional floppy in the EVENT.LOG file. An event is the combination of the command result (ET=09) and the event buffers (ET=0A). The command result states the: Host sequence ID Command executed Final result of the command Addressing information (if needed) The logging criteria The number of event buffers that were created by the command execution.

The number of event buffers are limited and if the number required exceeds the limit, some data will be truncated. When this happens, the event buffer count is appended with the following: <truncated>. Event buffers contain operations and error codes. Operations are records of the actions the LSM performed or was commanded to perform. They also record the success or failure of LSM actions. Error codes are unique entries that record how the operation failed. In many cases, the error codes contained in an event are sufficient to isolate the FRU; however, sometimes it is necessary to look at the entire event to determine the correct FRU. And other times, it is necessary to look at a number of events to get a clear determination of the problem.

s Event Log Examples

To better understand the event log, some common examples are explained next. In these examples, the logging criteria always includes SOFTLOG. A facility to soft log all events was used to record these examples. Line numbers were added to easily reference the explanations. Generally, the examples depict what you should expect to see in real event logs. If something is explained in one event example and it occurs in another, a redundant explanation is not given.

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Event Log Examples

Get Examples
The following examples depict Get operations. The first example is a normal Get with no errors; the second is a Get with a read retry. The last example is a Get with a VOLSER miscompare. To do a Get from a cell, the robot first moves theta, Z, wrist, and roll to the correct location and then fine-positions theta and Z to that location. After the arm is fine positioned, the VOLSER must be read to make sure it is the correct cartridge. The hand then reaches out and gets the cartridge. In Revision 2.20 of LSM firmware, StorageTek started performing an early Get. The procedure speeds up the Get command by overlapping the read with the reach. After fine-positioning, the robot is ready to read and get. It first loads the picture of the VOLSER label into memory and, as soon as the full picture loads, it starts the get operation. The Get operation is a reach-out, close-fingers, and reach-in. While the reach-finger actions are working, the image in memory is being decoded. The decoding of the picture takes less time to do than the Get, so the LCU determines whether it is the correct cartridge by the time the Get has completed. If it is determined that the correct cartridge was retrieved, the operation completes. If there is a problem with the read of the VOLSER or the wrong VOLSER was read, then the robot immediately puts the cartridge back and goes into specific error recovery. Examples of a normal Get, a read retry Get, and a VOLSER miscompare Get are detailed in the following sections.

Normal Get
Table A-1 on page A-3 is an example of a normal Get command. The LSM was commanded to perform a Get from a Cell (Panel 18, Row 14, Column 7) using Hand 1. Note: Line numbers 132 have been added for reference only. The command result (ET=09) is contained in Lines 1 to 8. Line 1 contains the Host Sequence ID of 04051. Line 2 states that the command is a Move and Get. In reality, it is a Move, Read and Get, but the Read is implied. Line 3 indicates that the command completed successfully. It does not indicate if any retries or temporary error occurred. It only indicates the final result of the command of Line 2. Line 4 indicates that at the end of the command, a cartridge was in Hand 1 and only in Hand 1. This does not mean that Hand 1 was the hand used; it only means that at the end of the command, a cartridge was in Hand 1. Line 5 indicates that the Get was from a Cell at Panel 18, Row 14, Column 7.

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Event Log Examples

Line 6 shows the VOLSER that was requested and compared against. Line 7 shows that this was written to the floppy because soft logging was requested. Line 8 shows that six event buffers are to follow and none were lost (truncated). The event buffers are contained in Lines 1032. Lines 10 and 11 indicate the LSM is preparing to do a Move Get with Hand 1 to a cell in Panel 18, Row 14. Lines 12 to 17 are termed the coarse positioning phase of the command. They indicate that theta, Z, wrist, and Roll-1 were moved by the amounts indicated and in the directions indicated. Lines 18 to 20 show that the camera viewed the target and determined that theta and Z are not perfectly aligned. Lines 22 and 23 show the amount and direction that theta and Z were moved to try to line up with the target. Lines 25 to 27 show that the target was found again and successfully aligned. The lack of theta and Z motions after a fine position entry indicates that the robot is aligned to the position. At this point, the example is aligned sufficiently to continue to the Read-Get portion of the command. Line 28 shows that Reach 1 was commanded to move out 1AB0h tachometer counts. During that motion, the Early-Get read operation finished and it was successful. Line 30 indicates that the read of the VOLSER was successful. Line 31 shows the Finger-1 close request and line 32 shows the Reach-1 retraction request. Table A-1. Normal Get Example ET = 09 DEV = 03 TOD = 11/16/89 09:30:59.15 SEQ# +96 01 02 03 04 05 06 07 08 Host Sequence ID = 04051 Command = MOVE AND GET Result = OK Cartridge in Hand1 Destination type = CELL: panel=18: row=14: column=07 VOLSER = 100712 Logging criteria = SOFTLOG Event buffers to follow = 6

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Table A-1. Normal Get Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:30:59.15 SEQ# +96 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Camera VOLSER SUCCESS using Hand:1 Action FINGER using Hand: 1 [Motion: CLOSE] Action REACH using Hand:1 [Move IN - Tach:000017ce] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000005 Delta Z:00000000 Panel:18 Row:14 Column:07 Action REACH using Hand:1 [Move OUT - Tach:00001ab0] Action THETA [Move CCW - Tach:0000001b] Action Z [Move UP - Tach:00000009] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta: ffffffe5 Delta Z: fffffff9 Panel:18 Row:14 Column:07 Action Z [Move DOWN - Tach:00001efc] Action WRIST [Move CCW - Tach:00000001] Action MOVE GET using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CCW - Tach:00002529]

Read Retry
Table A-2 on page A-5 is an example of a Get command that required a read retry. In summary, the Get occurs and the cartridge is put directly back for a second read and then the Get occurs again. Lines 1 to 20 act like the previous example. Line 22 shows Reach-1 reaching out for the cartridge. Lines 23 and 24 show the vision system detecting a partial read.

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Event Log Examples

Lines 26 to 28 are the completion of the early Get. Line 29 indicates that, because of the previous error, the cartridge must be put back. Lines 31 to 34 show the put back operation. The cartridge is back in its original location. The read is retried and Line 35 shows that it was successful. Lines 37 to 40 show the Get operation. Table A-2. Read Retry Example ET = 09 DEV = 03 TOD = 11/16/89 09:32:12.43 SEQ# +129 01 02 03 Host Sequence ID = 04960 Command = MOVE AND GET Result = OK

........ 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 Action FINGER using Hand:1 [Motion: OPEN] Action REACH using Hand:1 [Move IN - Tach:000017cf] Level 1 CAMERA 1 error[0289]: Early get error forced a cartridge put back. Action REACH using Hand:1 [Move OUT - Tach:00001ac4] Action REACH using Hand:1 [Move OUT - Tach:00001ab0] Level 5 CAMERA 1 error[0229]: Partial read on EARLY-GET: May be OK Level 3 CAMERA 1 error[0254]: Partial read of a VOLSER or unlabeled cartridge. Action FINGER using Hand:1 [Motion: CLOSE] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta: fffffffb Delta Z: 00000007 Panel:18 Row:14 Column:07 Action Z [Move DOWN - Tach:0000000e] Action WRIST [Move CCW - Tach:00000001]

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Table A-2. Read Retry Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:32:12.43 SEQ# +129 34 35 36 37 38 39 40 Action REACH using Hand:1 [Move IN - Tach:000017d5] Action REACH using Hand:1 [Move OUT - Tach:00001aaf] Action FINGER using Hand:1 [Motion: CLOSE] Action REACH using Hand:1 [Move IN - Tach:000017cd] Camera VOLSER SUCCESS using Hand:1

VOLSER Miscompare
Table A-3 on page A-7 is an example of a Get command that resulted in a VOLSER miscompare. The Get occurs, the cartridge is put directly back, a panel re-calibration occurs, and the read is done again. This command fails because of the miscompare. The LSM was commanded to GET VOLSER: 100713. The VOLSER at the location was: 100712. Lines 1 to 20 act like the first example. Line 22 shows Reach-1 reaching out for the cartridge. Line 23 indicates that a VOLSER was read successfully. Lines 24 to 27 show that there was a miscompare and that the last character (character #6) was read as a 2 and that is incorrect. The character specified was a 3. Lines 29 and 30 show the remainder of the original Get operation. Lines 31 and 32 indicate that the robot is preparing to put back the cartridge. Lines 34 to 37 show the put back operation. At this point, the robot prepares to do a panel recalibration and a retry of the get. Whenever the robot encounters a condition where it may be at the wrong location, it re-calibrates the locations on the panel at which the command failed. Hand-0 is used to re-calibrate, even if it was Hand-1 that encountered the error. The only exception is when Hand-0 is inoperative. Then the robot must use Hand-1. The recalibration is essentially just a Move Read command done internally to the LSM. The recalibration sequence is: Lines 38 to 43move theta, Z, wrist, and Roll-0 to the coarse position for the read. Lines 51 to 53 is the fine positioning portion. Line 54 indicates that the panel ID (PID) was read successfully.

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Line 56 indicates that the panel re-calibration was successful. No theta or Z re-alignment was required. The retry of the read and get follows: Line 57 and 58 indicate that the robot is in the retry phase of a Move Get. Lines 59 to 80 show the coarse and fine positioning operations. The VOLSER was read successfully as indicated on Line 82, but again the miscompare occurred, as indicated on Lines 83 to 86. Lines 87 and 88 indicate that the command failed. The absence of this entry indicates that the command worked as in the previous two examples. Table A-3. VOLSER Miscompare Example ET = 09 DEV = 03 TOD = 11/16/89 09:31:37.26 SEQ# +109 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 Action REACH using Hand:1 [Move OUT - Tach:00001ab0] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z: fffffff9 Panel:18 Row:14 Column:07 Action Z [Move UP - Tach:00000000] Action WRIST [Move CCW - Tach:00000001] Action MOVE GET using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:00000001] Host Sequence ID = 04905 Command = MOVE AND GET Result = GOOD READ, VOLSER MISCOMPARE No cartridges in hands Destination type = CELL: panel=18: row=14: column=07 VOLSER = 100713 Logging criteria = SOFTLOG Event buffers to follow = 18

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Table A-3. VOLSER Miscompare Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:31:37.26 SEQ# +109 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: 00000005 Delta Z: fffffff9 Panel:18 Row:03 Column:06 Action THETA [Move CCW - Tach:00000004] Action Z [Move UP - Tach:00000011] Action ROLL using Hand:0 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: fffffffb Delta Z: ffffffeb Panel:18 Row:03 Column:06 Action Z [Move UP - Tach:0000a3bb] Action WRIST [Move CW - Tach:00002936] Action REACH using Hand:1 [Move IN - Tach:000017cd] Action THETA [Move CCW - Tach:00000409] Action REACH using Hand:1 [Move OUT - Tach:00001ac5] Action FINGER using Hand:1 [Motion: OPEN] Action FINGER using Hand:1 [Motion: CLOSE] Action REACH using Hand:1 [Move IN - Tach:000017cf] Level 1 CAMERA 1 error[0289]: Early get error forced a cartridge put back. Camera VOLSER SUCCESS using Hand:1 Level 1 CAMERA 1 error[0225]: Error in barcode compare. Camera VOLSER BAD CHARACTER using Hand:1 CHARACTER #6 should not be: 2 Camera VOLSER BAD COMPARE using Hand:1

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Table A-3. VOLSER Miscompare Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:31:37.26 SEQ# +109 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 Camera VOLSER SUCCESS using Hand:1 Level 1 CAMERA 1 error[0225]: Error in barcode compare. Camera VOLSER BAD CHARACTER using Hand:1 Action Z [Move DOWN - Tach:00000023] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:0000000e Panel:18 Row:14 Column:07 Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:00000023 Panel:18 Row:14 Column:07 Action THETA [Move CCW - Tach:00000001] Action THETA [Move CW - Tach:00000026] Action Z [Move DOWN - Tach:0000006a] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000026 Delta Z:0000006a Panel:18 Row:14 Column:07 Action Z [Move DOWN - Tach:0000a322] Action WRIST [Move CCW - Tach:00002935] Successful calib of PANEL accessing Panel:18 Operation retry MOVE GET using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:000003ed] Camera VOLSER SUCCESS using Hand:0

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Table A-3. VOLSER Miscompare Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:31:37.26 SEQ# +109 85 86 87 88 CHARACTER #6 should not be: 2 Camera VOLSER BAD COMPARE using Hand:1 Operation failure MOVE GET using Hand:1 to a CELL Panel:18 Row:14

Put Examples
Examples of Put command operations are explained below. Puts are similar to Get operations except that no Read operation is performed.

Normal Put
Table A-4 on page A-10 is an example of a normal Put operation. Lines 1 to 20 are similar to the previous examples. Line 22 indicates that Reach-1 was commanded to extend and Line 23 shows the Finger-1 close request. Line 25 indicates the Reach-1 retraction. Table A-4. Normal Put Example ET = 09 DEV = 03 TOD = 11/16/89 09:31:03.41 SEQ# +103 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 Action Z [Move DOWN - Tach:00000003] Action WRIST [Move CCW - Tach:00000001] Action MOVE PUT using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:00000000] Host Sequence ID = 04051 Command = MOVE AND PUT Result = OK No cartridges in hands Destination type = CELL: panel=18: row=14: column=07 VOLSER = Logging criteria = SOFTLOG Event buffers to follow = 5

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Table A-4. Normal Put Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:31:03.41 SEQ# +103 16 17 18 19 20 21 22 23 24 25 Action REACH using Hand:1 [Move IN - Tach:000017d1] Action REACH using Hand:1 [Move OUT - Tach:00001aaf] Action FINGER using Hand:1 [Motion: OPEN] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:00000000 Panel:18 Row:14 Column:07

Put To a Full Cell

Table A-5 on page A-12 illustrates a Put to a full cell. Line 3 shows the result as: CELL FULL. Line 4 indicates that a cartridge is in Hand-1 at the end of the command. On a Put to a full cell, the robot reports the VOLSER of the cartridge in the cell in Line 6. If the VOLSER cannot be read, Line 6 is left blank. In this case, the robot tried to Put to a cell on Panel 19, Row 14, Column 7, and found it occupied by VOLSER 100712. The explanation is as follows: Lines 1 to 20 are coarse and fine positioning. At this point the LSM is ready to put the cartridge in the cell. Line 22 indicates that Reach-1 was commanded to extend 1AB0h tachometer counts. Lines 23 and 24 indicate that the cell appeared full. Notice that Line 23 showed a Reach-1 movement in that was much shorter then the out motion. This indicates the disparity of the movements: the reach in was only 8B0h tachometer counts, whereas 1AB0h tachometer counts were requested. A panel recalibration follows, as indicated by Lines 26 to 37. Lines 38 and 39 indicate the preparation for a retry of the Put command. Lines 40 to 61 are the coarse and fine position portion of the retry. Before the robot attempts a Put again, it must first try to read. This is indicated by Line 63, which shows that a VOLSER was read at that location; Lines 64 and 65 indicate that the Put failed.

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Table A-5. Put to a Full Cell ET = 09 DEV = 03 TOD = 11/16/89 09:33:49.30 SEQ# +178 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Action WRIST [Move CW - Tach:00002936] Action ROLL using Hand:0 [Move to VERT - Tach:00000001] Action THETA [Move CCW - Tach:0000041e] Action Z [Move UP - Tach:0000a3c9] Action REACH using Hand:1 [Move OUT - Tach:00001ab0] Action REACH using Hand:1 [Move IN - Tach:000008b0] Level 1 HAND 1 error[0167]: Cell full: cannot put. Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta: fffffff5 Delta Z: 00000000 Panel:18 Row:14 Column:07 Action Z [Move UP - Tach:00000000] Action WRIST [Move CCW - Tach:00000001] Action MOVE PUT using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CCW - Tach:000003d5] Host Sequence ID = 04779 Command = MOVE AND PUT Result = CELL FULL Cartridge in Hand1 Destination type = CELL: panel=18: row=14: column=07 VOLSER = 100712 Logging criteria = SOFTLOG Event buffers to follow = 14

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Table A-5. Put to a Full Cell (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:33:49.30 SEQ# +178 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 Action Z [Move DOWN - Tach:0000002a] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta: fffffffb Delta Z: 0000000e Panel:18 Row:14 Column:07 Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:0000002a Panel:18 Row:14 Column:07 Action THETA [Move CCW - Tach:00000002] Action THETA [Move CW - Tach:00000026] Action Z [Move DOWN - Tach:00000063] Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000026 Delta Z:00000063 Panel:18 Row:14 Column:07 Action Z [Move DOWN - Tach:0000a322] Action WRIST [Move CCW - Tach:00002936] Successful calib of PANEL accessing Panel:18 Operation retry MOVE PUT using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:000003ed] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: 00000000 Delta Z: fffffff9 Panel:18 Row:03 Column:06 Camera VOLSER SUCCESS using Hand:0

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Table A-5. Put to a Full Cell (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:33:49.30 SEQ# +178 63 64 65 Camera VOLSER SUCCESS using Hand:1 Operation failure MOVE PUT using Hand:1 to a CELL Panel:18 Row:14

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Catalog Examples
A Catalog (audit) of a cell is accomplished with the Move Read command. There is only one Move Read command, but the LSM is allowed to time for optimization of the command if the situation warrants it. Examples of the Catalog commandnormal, quick, and catalog of an empty cellare shown in the following sections.

Normal Catalog
Table A-6 depicts a normal Catalog command. It is a standard move to a location and then a read at that location. Lines 1 to 40 are like other examples. Line 41 indicates that a VOLSER was read successfully. The VOLSER found is reported on Line 6. Table A-6. Normal Catalog Example ET = 09 DEV = 03 TOD = 11/16/89 09:29:30.23 SEQ# +65 01 02 03 04 05 06 07 08 09 10 11 12 13 .......... 24 25 26 27 28 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:00000000 Delta Z:0000001c Panel:18 Row:14 Column:03 Action THETA [Move CCW - Tach:00000002] Action MOVE READ VOLSER using Hand: 0 to a CELL Panel: 18 Row: 14 Action THETA [MOVE CCW - Tach:00003e12] Host Sequence ID = 04268 Command = MOVE AND READ VOLSER Result = OK No cartridges in hands Destination type = CELL: panel=18: row=14: column=03 VOLSER = 105944 Logging criteria = SOFTLOG Event buffers to follow = 8

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Table A-6. Normal Catalog Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:29:30.23 SEQ# +65 29 30 31 32 33 34 35 36 37 38 39 40 41 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:00000005 Delta Z:00000000 Panel:18 Row:14 Column:03 Camera VOLSER SUCCESS using Hand:0 Action THETA [Move CCW - Tach:00000005] Action Z [Move DOWN - Tach:00000014] Action Z [Move DOWN - Tach:0000001c] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: fffffffb Delta Z: 00000015 Panel:18 Row:14 Column:03

Quick Catalog
To speed up the Catlog process, a quick Catalog feature has been added to the LSM. The only difference between the normal Catalog and the quick Catalog is that the fine-positioning actions are eliminated. When this happens, it is noted in the event buffer. A quick Catalog is shown in Table A-7. Lines 1 to 17 are standard. Lines 17 and 18 indicate that the fine-positioning has been purposely skipped. Line 21 indicates the successful VOLSER read. Table A-7. Quick Catalog Example ET = 09 DEV = 03 TOD = 11/16/89 09:29:33.93 SEQ# +74 01 02 03 04 05 06 07 Host Sequence ID = 04322 Command = MOVE AND READ VOLSER Result = OK No cartridges in hands Destination type = CELL: panel=18: row=14: column=07 VOLSER = 100712 Logging criteria = SOFTLOG

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Table A-7. Quick Catalog Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:29:33.93 SEQ# +74 08 09 10 11 12 13 14 15 16 17 18 19 20 21 Camera VOLSER SUCCESS using Hand:0 Action ROLL using Hand:0 [Move to HORIZ - Tach:00000000] Fine positioning purposely SKIPPED using Hand:0 to a CELL Panel:18 Row:14 Column:07 Action Z [Move UP - Tach:00000000] Action WRIST [Move CW - Tach:00000000] Action MOVE READ VOLSER using Hand:0 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:00000f43] Event buffers to follow = 4

Catalog of an Empty Cell

Table A-8 is an example of a Catalog to an empty cell. Line 3 and Line 6 are indications that the LSM found the cell to be empty. Lines 1 to 33 are standard coarse and fine positioning. Lines 35 and 36 are a reach out to check for a cartridge performed by Reach-0. Lines 37 and 38 indicate that the reach out and feel determined that the cell was empty. Table A-8. Catalog of an Empty Cell Example ET = 09 DEV = 03 TOD = 11/16/89 09:28:49.70 SEQ# +52 01 02 03 04 05 06 07 Host Sequence ID = 04358 Command = MOVE AND READ VOLSER Result = CELL EMPTY No cartridges in hands Destination type = CELL: panel=18: row=14: column=19 VOLSER = @@@@@@ Logging criteria = SOFTLOG

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Table A-8. Catalog of an Empty Cell Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:28:49.70 SEQ# +52 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 Action REACH using Hand:0 [Move OUT - Tach:00001579] Action REACH using Hand:0 [Move IN - Tach:000015a3] Level 3 CAMERA 0 error[0253]: Empty destination. Camera VOLSER DESTINATION EMPTY using Hand:0 Action Z [Move DOWN - Tach:0000002a] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:0000000b Delta Z:0000000e Panel:18 Row:14 Column:19 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:00000005 Delta Z:0000002a Panel:18 Row:14 Column:19 Action THETA [Move CW - Tach:00000004] Action THETA [Move CW - Tach:00000047] Action Z [Move DOWN - Tach:00000080] Action ROLL using Hand:0 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:00000047 Delta Z:00000080 Panel:18 Row:14 Column:19 Action Z [Move DOWN - Tach:0000085d] Action WRIST [Move CW - Tach:00002b4b] Action MOVE READ VOLSER using Hand:0 to a CELL Panel:18 Row:14 Action THETA [Move CCW - Tach:000020d1] Event buffers to follow = 7

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Tape Drive Fault Symptom Code Example

When the LSM is interacting with a tape drive and the tape drive has an error, the event log reports the tape drive FSC. An example of this is shown in Table A-9. The LMU commanded the LSM to load to a tape drive. It failed the load and had a 454F FSC. The normal logging criteria is just TDFSC. This example also has softlog because of the way the example was generated. Panel and drive numbers are indicated on Line 4. Table A-9. Tape Drive Fault Symptom Code Example ET = 09 DEV = 03 TOD = 11/16/89 09:36:39.34 SEQ# +283 01 02 03 04 05 06 07 08
Drive FSC:[454f] during DRIVE COMMUNICATION accessing Unit:0 Drive:2

Host Sequence ID = 04454 Command = TAPE DRIVE COMMAND: LOAD Result = DRIVE CAN T LOAD TAPE DRIVE = panel=01: drive=02 Logging criteria = SOFTLOG TDFSC Event buffers to follow = 1

Vision Examples
Vision error conditions are shown in the following sections. In the first example, a target on a tape drive is severely damaged. The second example documents a broken camera cable. This second condition causes a Hand INOP. The third example shows a known hardware problem that you may encounter. Take special note of this last example since FRU replacement is not required.

Damaged Target
Table A-10 on page A-20 is an example of Put to a drive that has a severely damaged target. It is so damaged that the command fails. This is indicated at Line 3. Lines 18 to 39 show the Target read retry and failure. Lines 40 and 41 indicate the LSM has stopped its attempt to fine position. A panel recalibration is next, indicated on Lines 43 to 60. The original motion is retried as indicated by Lines 61 to 88 and the command failure is indicated by Lines 90 and 91.

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Table A-10. Damaged Target Example ET = 09 DEV = 03 TOD = 11/16/89 09:38:32.70 SEQ# +341 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 20 21 22 23 24 25 26 27 28 29 30 31 32 Fine positioning RETRY using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Fine positioning RETRY using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Level 5 CAMERA 0 error[026c]: Side bar of target not found: check target integrity. Action ROLL using Hand:0 [Move to HORIZ - Tach:000003f6] Level 5 CAMERA 0 error[026b]: Quick target search failed: check target integrity. Level 5 CAMERA 0 error[026c]: Side bar of target not found: check target integrity. Action Z [Move UP - Tach:00005449] Action WRIST [Move CCW - Tach:00002b4b] Action MOVE PUT using Hand:0 to a DRIVE Panel:01 Drive:02 Action THETA [Move CCW - Tach:0000e5c7] Host Sequence ID = 04363 Command = MOVE AND PUT Result = FAILED TARGET PORTION OF MOVE Cartridge in Hand0 Destination type = DRIVE: panel=01: drive=02 VOLSER = Logging criteria = SOFTLOG Event buffers to follow = 17

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Table A-10. Damaged Target Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:38:32.70 SEQ# +341 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 Camera VOLSER SUCCESS using Hand:0 Successful calib of PANEL accessing Panel:1 Operation retry MOVE PUT using Hand:0 to a DRIVE Panel:01 Drive:02 Action Z [Move UP - Tach:0000000a] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta:0000000d Delta Z:00000000 Panel:01 Row:07 Column:06 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: ffffffbe Delta Z: fffffff2 Panel:01 Row:07 Column:06 Action THETA [Move CW - Tach:0000003e] Action WRIST [Move CCW - Tach:00000001] Action ROLL using Hand:0 [Move to VERT - Tach:000003f6] Action THETA [Move CCW - Tach:000014d1] Action Z [Move UP - Tach:000013b3] Fine positioning FAILURE using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Level 2 CAMERA 0 error[0221]: Target recognition failure. Level 3 ARM error[0236]: Previous error caused the ARM to fail fine positioning. Level 5 CAMERA 0 error[026d]: Bottom bar of target not found: check target integrity.

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Table A-10. Damaged Target Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:38:32.70 SEQ# +341 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 Operation failure MOVE PUT using Hand:0 to a DRIVE Panel:01 Drive:02 Fine positioning FAILURE using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Level 2 CAMERA 0 error[0221]: Target recognition failure. Level 3 ARM error[0234]: Previous error caused an ARM retry failure. Fine positioning RETRY using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Level 5 CAMERA 0 error[026c]: Side bar of target not found: check target integrity. Fine positioning RETRY using Hand:0 to a DRIVE Delta Theta:00000000 Delta Z:00000000 Panel:01 Drive:02 Level 5 CAMERA 0 error[026c]: Side bar of target not found: check target integrity. Action WRIST [Move CCW - Tach:00000001] Action ROLL using Hand:0 [Move to HORIZ - Tach:000003f6] Level 5 CAMERA 0 error[026d]: Bottom bar of target not found: check target integrity. Action THETA [Move CW - Tach:0000145a] Action Z [Move DOWN - Tach:00001394]

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DMA Failure
Table A-11 depicts what happens when a camera cable breaks. Lines 0 to 17 are standard. Lines 18 to 20 clearly indicate that the camera signal was lost. This could be a camera problem, a camera power cable problem, or a CLW (LCU card) problem; but most likely it is a camera signal cable problem. When this condition occurs, the hand is set to inoperative. This is done by setting that camera inoperative. Line 7 indicates that an INOP transition occurred during the execution of the command. Lines 30 to 35 show the INOP message that the LSM sent to the LMU. Table A-11. DMA Failure Example ET = 09 DEV = 03 TOD = 11/16/89 09:45:50.26 SEQ# +439 01 02 03 04 05 06 07 08 Host Sequence ID = 04874 Command = MOVE AND READ VOLSER Result = DMA OF CAMERA DATA TO MEMORY FAILED No cartridges in hands Destination type = CELL: panel=18: row=13: column=08 VOLSER = Logging criteria = ENDSTA INOP Event buffers to follow = 5

........ 15 16 17 18 19 20 21 22 23 24 25 26 Fine positioning FAILURE using Hand:1 to a CELL Delta Theta:00000000 Delta Z:00000000 Panel:18 Row:13 Column:08 Level 2 CAMERA 1 error[0220]: Operation failed. Level 3 ARM error[0235]: Previous error caused an ARM motion failure Action ROLL using Hand:1 [Move to VERT - Tach:00000001] Level 5 CAMERA 1 error[0264]: Lost Camera signal while taking picture: this is most likely Camera cables. Action WRIST [Move CCW - Tach:00002937]

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Table A-11. DMA Failure Example (Continued) ET = 09 DEV = 03 TOD = 11/16/89 09:45:50.26 SEQ# +439 27 28 29 Operation failure MOVE READ VOLSER using Hand:1 to a CELL Panel:18 Row:13

ET = 10 DEV = 03 TOD = 11/16/89 09:45:50.76 SEQ# +445 30 31 32 33 34 35 INOP transition for CAMERA Hand:1 LSM 3 OPERATIONALITY CHANGE INOP Mechanism(s): HAND1 Logging criteria = ENDSTA Event buffers to follow = 1

Old Picture Found in Memory

There is a design flaw in the LSM that is sometimes posted as an error in the event log. An error is indicated at Lines 18 and 19. When this condition is discovered, the LSM logs that error and automatically retried the image capture. If the error happens too many times in a row, another error is logged and that camera is made inoperative. This example (Table A-12) is included to save you from replacing any parts when this type of error is logged. Table A-12. Old Picture Found in Memory Example ET = 09 DEV = 04 TOD = 11/16/89 09:55:46.22 SEQ# +1676 01 02 03 04 05 06 07 08 09 10 11 Action MOVE PUT using Hand:1 to a CELL Panel:10 Row:00 Host Sequence ID = 00011 Command = MOVE AND PUT Result = CELL FULL Cartridge in Hand1 Destination type = CELL: panel=10: row=00: column=01 VOLSER = DG 005 Logging criteria = ENDSTA Event buffers to follow = 18

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Table A-12. Old Picture Found in Memory Example (Continued) ET = 09 DEV = 04 TOD = 11/16/89 09:55:46.22 SEQ# +1676 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 41 42 43 Action THETA [Move CW - Tach:0000001f] Action Z [Move UP - Tach:000000a0] 40 Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: 0000000d Delta Z: ffffffc0 Panel:10 Row:07 Column:06 Action ROLL using Hand:0 [Move to VERT - Tach:00000001] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: ffffffe6 Delta Z: ffffff56 Panel:10 Row:07 Column:06 Action Z [Move DOWN - Tach:00006565] Action WRIST [Move CCW - Tach:00002936] Action REACH using Hand:1 [Move IN - Tach:000008eb] Level 1 HAND 1 error[0167]: Cell full: cannot put. Action THETA [Move CW - Tach:00000ac6] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta: fffffffc Delta Z: fffffff9 Panel:10 Row:00 Column:01 Action REACH using Hand:1 [Move OUT - Tach:00001aad] Action ROLL using Hand:1 [Move to HORIZ - Tach:00000001] Level 5 CAMERA 1 error[028e]: The picture that was just taken seems to be the old picture. Action Z [Move UP - Tach:0000c92b] Action WRIST [Move CCW - Tach:00000217] Action THETA [Move CW - Tach:000066bd]

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Table A-12. Old Picture Found in Memory Example (Continued) ET = 09 DEV = 04 TOD = 11/16/89 09:55:46.22 SEQ# +1676 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 Action THETA [Move CCW - Tach:00000008] Action Z [Move DOWN - Tach:00000023] Action ROLL using Hand:1 [Move to HORIZ - Tach:00000001] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000008 Delta Z:00000023 Panel:10 Row:00 Column:01 Action Z [Move UP - Tach:000064a2] Action WRIST [Move CW - Tach:00002935] Successful calib of PANEL accessing Panel:10 Operation retry MOVE PUT using Hand:1 to a CELL Panel:10 Row:00 Action THETA [Move CCW - Tach:00000ad2] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: 00000004 Delta Z: ffffffeb Panel:10 Row:07 Column:06 Camera VOLSER SUCCESS using Hand:0 Action THETA [Move CW - Tach:00000003] Action Z [Move UP - Tach:00000012] Action Z [Move UP - Tach:0000003c] Fine positioning SUCCESS using Hand:0 to a CELL Delta Theta: fffffff8 Delta Z: ffffffeb Panel:10 Row:07 Column:06 Action THETA [Move CCW - Tach:00000013]

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Table A-12. Old Picture Found in Memory Example (Continued) ET = 09 DEV = 04 TOD = 11/16/89 09:55:46.22 SEQ# +1676 75 76 77 78 79 80 81 Operation failure MOVE PUT using Hand:1 to a CELL Panel:10 Row:00 Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:00000007 Panel:10 Row:00 Column:01 Camera VOLSER SUCCESS using Hand:1

Re-Initialization During Operation Examples

Under some conditions, if a mechanism is about to go inoperative, the LSM automatically re-initializes the mechanism. This is to keep the LSM as fully operational as possible. Three examples of this follow. The first two are cases when the mechanism was successfully re-initialized; the third depicts a state where re-initialization was not possible.

Reach Re-Initialization
Table A-13 is an example of Reach-0 encountering a mistaken crash-stop position during on a reach-out movement. Lines 1 to 20 are standard coarse and fine positioning. Line 22 indicates that Reach-0 was commanded to move out 1AACh tachometer counts. Lines 24 to 33 show a Reach-0 snapshot that detected a crash-stop encountered condition. Line 35 indicates that reach was re-initialized successfully and Line 36 shows that it was pulled in by A4Fh tachometer counts. The Get was successful as shown on Lines 37 to 40. Table A-13. Reach Re-Initialization Example ET = 09 DEV = 04 TOD = 11/16/89 10:06:33.96 SEQ# +1973 01 02 03 04 05 Host Sequence ID = 41102 Command = MOVE AND GET Result = OK Cartridge in Hand0 Destination type = CELL: panel=18: row=14: column=03

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Table A-13. Reach Re-Initialization Example (Continued) ET = 09 DEV = 04 TOD = 11/16/89 10:06:33.96 SEQ# +1973 06 VOLSER = 12345

........ 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 Action FINGER using Hand:0 [Motion:CLOSE] Action REACH using Hand:0 [Move IN - Tach:000017b1] Successful init of REACH using Hand:0 Action REACH using Hand:0 [Move IN - Tach:00000a4f] Action REACH using Hand:0 [Move OUT - Tach:00001ab2] st_pos:00000102 pos_r0:000011f6 dest:00001bad pos_r1:000011af pos_0:000011ef cr_1:00000069 pos_1:000011a9 cr_2:00001bed REACH 0 snapshot: CODE[0023]: Mechanism shut down: crash stop encountered. sflg:008f s_reg:10 e_cur:04 pe_st:00 eflg:0000 reg_4 pk_p_cur:27 dith_st:00 pk_n_cur:fb drag_st:00 pk_veler:002f pk_dith:0003 ff_cur:1a i_e_cur:01 ix:03 c_reg:03 st_a:11 st_b:04 Action REACH using Hand:0 [Move OUT - Tach:00001aac] Delta Theta: 00000005 Delta Z: fffffff9 Panel:18 Row:14 Column:03

pk_poser:002f

pk_vel:011b

Theta Re-Initialization
Table A-14 on page A-29 depicts a theta movement when a dynamic brake relay (DBR) fails. Lines 1 to 17 are standard coarse motions. Starting with Line 19, THETA information indicates problems. Lines 19 to 40 indicate that theta had its DBR circuit opened.

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Line 42 indicates that theta was successfully re-initialized and Line 43 shows the remainder of the theta motion that was required in Line 12.
]

Table A-14. Theta Re-initialization Example ET = 09 DEV = 04 TOD = 11/16/89 10:06:55.34 SEQ# +1982 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 21 22 23 24 25 26 27 28 29 30 THETA snapshot: st_pos:ffff62dc pos_r0:ffff6c70 dest:ffff7e7c pos_r1:ffff6bd3 pos_0:ffff62dc cr_1:fffd8bf9 pos_1:ffff62dc cr_2:000273eb THETA snapshot: 20 CODE[0067]: Maximum position error exceeded. sflg:029f s_reg:00 e_cur:1b pe_st:00 eflg:0011 reg_4 pk_p_cur:7f dith_st:00 pk_n_cur:ff drag_st:00 pk_veler:009d pk_dith:0000 ff_cur:37 i_e_cur:00 ix:04 c_reg:03 st_a:32 st_b:00 Action ROLL using Hand:1 [ Move to HORIZ - Tach:00000001 ] Action Z [MOVE DOWN Action WRIST [ Tach:00000019 ] ] Action MOVE PUT using Hand: 1 to a CELL Panel: 18 row: 14 Action THETA [MOVE CW - Tach:00001ba0] Host Sequence ID = 41616 Command = MOVE AND PUT Result = OK No cartridges in hands Destination type = CELL: panel = 18 row = 14 column = 10 VOLSER = Logging criteria = SNAPS Event buffers to follow = 10

MOVE CCW -

Tach:00002915

pk_poser:0994

pk_vel:0000

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Table A-14. Theta Re-initialization Example (Continued) ET = 09 DEV = 04 TOD = 11/16/89 10:06:55.34 SEQ# +1982 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 Action FINGER using Hand:1 [Motion:OPEN] Action REACH using Hand:1 [Move IN - Tach:0000178c] Fine positioning SUCCESS using Hand:1 to a CELL Delta Theta:00000000 Delta Z:00000000 Panel:18 Row:14 Column:10 Action REACH using Hand:1 [Move OUT - Tach:00001aae] Successful init of THETA Operation retry THETA [ Move CW - Tach:00001ba0 ] st_pos:ffff62dc pos_r0:ffff6c70 dest:ffff7e7c pos_r1:ffff6bd3 pos_0:ffff62dc cr_1:fffd8bf9 pos_1:ffff62dc cr_2:000273eb CODE[0062]: Theta DBR circuit opened illegally: hardware caused shutdown. sflg:029f s_reg:00 e_cur:1b pe_st:00 eflg:0011 reg_4 pk_p_cur:7f dith_st:00 pk_n_cur:ff drag_st:00 pk_veler:009d pk_dith:0000 ff_cur:37 i_e_cur:00 ix:05 c_reg:03 st_a:32 st_b:00

pk_poser:0994

pk_vel:0000

Theta Inoperative
This is an example of theta encountering a crash stop and not being able to recover. In this case, an INOPS message was generated as indicated on Lines 35 to 40. Table A-15. Theta Inoperative ET = 09 DEV = 04 TOD = 11/16/89 10:07:03.26 SEQ# +1994 01 02 03 Host Sequence ID = 41587 Command = MOVE AND GET Result = FAILED ROBOTICS PORTION OF MOVE

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Table A-15. Theta Inoperative (Continued) ET = 09 DEV = 04 TOD = 11/16/89 10:07:03.26 SEQ# +1994 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Level 5 THETA error[0061]: Crash stop 2 unexpectedly encountered. Operation failure THETA [Move CW - Tach:000003bc] Level 3 ARM error[0235]: Previous error caused an ARM motion failure st_pos:ffff7216 pos_r0:ffff75d1 dest:ffff75d2 pos_r1:ffff75d1 pos_0:ffff75d1 cr_1:fffd8bf9 pos_1:ffff75d1 cr_2:000273eb THETA snapshot: 20 encountered. sflg:013f s_reg:04 e_cur:07 pe_st:00 eflg:0000 reg_4 pk_p_cur:25 dith_st:00 pk_n_cur:db drag_st:00 pk_veler:0020 pk_dith:0003 ff_cur:00 i_e_cur:06 ix:06 c_reg:03 st_a:33 st_b:00 CODE[0061]: Crash stop 2 unexpectedly Action ROLL using Hand:1 [Move to HORIZ - Tach:00000001] Action Z [Move DOWN - Tach:00000026] Action WRIST [Move CCW - Tach:00002913] Action MOVE GET using Hand:1 to a CELL Panel:18 Row:14 Action THETA [Move CW - Tach:000003bc] Cartridge in Hand0 Destination type = CELL: panel=18: row=14: column=08 VOLSER = 12345 Logging criteria = ENDSTA INOP SNAPS Event buffers to follow = 6

pk_poser:0036

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Table A-15. Theta Inoperative (Continued) ET = 09 DEV = 04 TOD = 11/16/89 10:07:03.26 SEQ# +1994 33 34 Operation failure MOVE GET using Hand:1 to a CELL Panel:18 Row:14

ET = 10 DEV = 04 TOD = 11/16/89 10:07:03.91 SEQ# +2001 35 36 37 38 39 40 Inop transition for THETA LSM 4 OPERATIONALITY CHANGE INOP Mechanism(s): ARM Logging criteria = ENDSTA Event buffers to follow = 1

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Fault Symptom Code Dictionary

The 4400 fault symptom code (FSC) dictionary is available on two maintenance device (392X) diskettes or on the 4430 PC Utilities disk. The 392X diskettes are shipped with each subsystem software upgrade and should be available at each site. The text files contained on these floppies are also available through the FIXIT system (CCSVM). Always be sure that the level of the text you are viewing matches the subsystem microcode level that produced the error code. To access FSC descriptions using the 392X, perform the following steps: 1. Insert the appropriate FSC dictionary diskette into the 392X Disk A (0XXX for LSM FSCs 000007FF, or the disk 6XXX... for all others). 2. Reboot the 392X. 3. Enter the date and time. The 392X automatically steps through several menu screens, ending with the TYPE command. This command displays a file named INDEX.TX, which contains an index of file names and the range of FSCs per file. 4. Press the PF2 key and enter the file name corresponding to the FSC desired, and press the Enter key. The screen splits, displaying both INDEX.TX and the file name that was entered. 5. Press the ESC key, enter the four-hexadecimal character FSC, and press the ESC key again. The TYPE command searches this file for the FSC that was entered. 6. Press the PF3 key to exit.

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Vision Diagnosis Examples

This appendix contains information about the vision system in the automated cartridge system (ACS).

s Vision System Diagnosis

The 4400 Vision System is contains several components within the 4410 LSM and the 4411 LCU. The components with the greatest influence on the readability of a cartridge VOLSER are the cameras, lamps, cartridge label, and the LW card within the 4411 card cage. The camera can be of two types; Pulnix, or Sony. Both camera types are adjusted to maximize readability over a range of label contrasts. The Labels are of three types; Wright Line, EDP, and GDI. EDP and Wright Line are customer labels, while GDI produces the calibration labels for the LSM. Customer labels must have a minimum contrast for both the black of the barcode and the white of the background. The Lamps are GE precision BAB 20W 12V lamps. The two lamps on the hand illuminate the target and the barcode label of the cartridge. The LW card contains the electronics that convert the analog signal from the camera to a digital word that is loaded into the 4411 memory.

s Vision System Examples Barcode

The following examples are divided into sections based on the output obtained from the vision diagnostic routines. The examples are a general guide for comparison. VOLSER read problems do not produce exactly the same patterns for any given label. These examples help you diagnose a problem associated with barcode reading by allowing you an opportunity to compare diagnostic output to known output. Either further testing of suggested components or component replacement is recommended.

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Readability Percentages Output

s Readability Percentages Output

Once the vision diagnostic has completed initialization, three read percentages are produced; BFCF, D7F7, and FF. These percentages represent the readability in the operating range, as well as the marginal area around the operating range. They are based on the percentage of reads within each range of lamp settings calculated against the total number of reads possible. The output for all three percentages will be calculated at the completion of the Expanded Readability Test (ERT). The output resides in the diagnostic log.
Barcode ERT Percentages and Result (VCT 6F-FF): Test 1 (BF->CF) Percentage = 100 Total = 171 Test 2 (D7->F7) Percentage = 100 Total = 171 Test 3 (FF) Percentage = 100 Total = 57 Total number of reads for ERT test = xxx =======Expanded Readability Test Passed=======

s Lamp Value BFCF Percentage

The BFCF lamp settings represent an area of readability most influenced by the gain setting of the camera and the f/stop of the lens. These lamp values are lower than the calibration or normal operating lamp settings. This area indicates the amount of margin available outside of the operating range. Reduced readability in this area can lead to sporadic read failures or partial reads of VOLSERs. Generally, this area of the readability matrix should have a percentage of greater than 80 percent. The camera should be replaced to improve this range. The lamps may also have an influence on the readability within this range.

s Lamp Value D7F7 Percentage

The D7F7 lamp settings are the operating range used to calibrate the Vision System. Any missed reads in this range indicate a degraded vision system. Because this is the range used for calibration of the LSM, less than 95 percent readability indicates a severely degraded vision system. Check the labels for compliance to specification. Verify that both lamps are illuminating evenly. Replace the camera if the labels and the lamps are within specification. If the percentage is still below 95 percent after further testing, replace the LW card.

s Lamp Value FF Percentage

The FF lamp value is the maximum amount of illumination obtainable from the system. Reduced reads in this range are attributed to a bright white background on the label or faded black in the barcode. Very high gain settings in the camera will also produce a decrease in the FF percent. Read failures in this range can

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Readability Matrix Output

also be caused by brighter than normal lamps. The FF readability percentage should be greater than 85 percent. Check the labels against the specification. Verify that the lamps have not increased their illumination level. Replace these components if they are out of specification. Replace the camera if the previous components do not improve the percentage.

s Readability Matrix Output

Another output from the vision diagnostic is the matrix image of the ERT. Some general, basic patterns show up dependent on the type of error that exists within the vision system. Comparison of the pattern generated during the test with these examples will direct you toward a possible cause or a different diagnostic to get more specific information. The matrixes shown are for the expanded ERT values. If the test results represent data from running the minimum ERT, use the same matrixes for pattern comparison and reduce comparison to the tested ranges.

s Standard Matrix
These matrixes represent the ability of the vision system to read a tested label. The numbers past the asterisk indicate the number of successful reads, maximum 3, at a particular lamp voltage value, vertical axis, and at a particular VCT level, horizontal axis. The minimal range of the ERT produces a read matrix that shows the readability of the system in the operating range and in the marginal range. A 100% read of the percentages is the typical output from this test.
***** Expanded Readability Test Matrix ***** BF*3333333333333333333 C7*3333333333333333333 CF*3333333333333333333 D7*3333333333333333333 DF*3333333333333333333 E7*3333333333333333333 EF*3333333333333333333 F7*3333333333333333333 FF*3333333333333333333 6778899AABBCCDDEEFF F7F7F7F7F7F7F7F7F7F VCT Axis ------->

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Standard Matrix

The default label read by the ERT in the extended mode is the PCAL label. This test produces the type of read matrix shown in Table C-1. Table C-1. Expanded Readability Test MatrixPCAL Label ***** Expanded Readability Test Matrix ***** 6F* 77* 7F* 333 3331 3333

87* 1 33333 8F*231 33333 97*32 133333

9F*331 23333333 A7*331 13333333331 AF*332 13333333333323111 1 B7*3332 3333333333333333333321321 2 BF*3331 113333333333333333333333333 C7*3321 133333333333333333333333333 CF*331 133333333333333333333333333

D7*3332 133333333333333333333333333 DF*3311 233333333333333333333333333 E7*333 123333333333333333333333333

EF*3332 133333333333333333333333333 F7*33331333333333333333333333333333 FF*33333333333333333333333333333333 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------>

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Standard Matrix

The Pulnix cameras have Pulnix printed on the side. The standard matrix, extended range, for an EDP or Wright Line label, as shown in Table C-2. Table C-2. Expanded Readability Test MatrixEDP or Write Line Label Example 1 ***** Expanded Readability Test Matrix ***** 6F* 77* 7F* 3333 33331 33333

87* 1333333 8F*233333333 97*3333333333 9F*333333333333 A7*333333333333331 AF*333333333333333323111 1 B7*333333333333333333333333321321 2 BF*33333333333333333333333333333333 C7*33333333333333333333333333333333 CF*33333333333333333333333333333333 D7*33333333333333333333333333333333 DF*33333333333333333333333333333333 E7*33333333333333333333333333333333 EF*33333333333333333333333333333333 F7*33333333333333333333333333333333 FF*33333333333333333333333333333333 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------>

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Standard Matrix

The Sony cameras have CCD printed on the side of the camera. The standard matrix, extended range, for an EDP or Wright Line label, as shown in Table C-3. Table C-3. Expanded Readability Test MatrixEDP or Write Line Label Example 2 ***** Expanded Readability Test Matrix ***** 6F* 77* 7F* 87* 8F* 97* 9F* 23 33 33 331 333 333 3332

A7* 333332 AF*333333333231 B7*3333333333333333323332111 BF*33333333333333333333333333333333 C7*33333333333333333333333333333333 CF*33333333333333333333333333333333 D7*33333333333333333333333333333333 DF*33333333333333333333333333333333 E7*33333333333333333333333333333333 EF*33333333333333333333333333333333 F7*33333333333333333333333333333333 FF*33333333333333333333333333333333 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------>

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Low Gain Matrix

s Low Gain Matrix

Table C-4. Expanded Readability Test MatrixLow Gain Example 1 ***** Expanded Readability Test Matrix ***** 6F* 77* 7F* 87* 8F* 97* 9F* A7* AF* 3 3 3 3 33 33 1331 3332 33331

B7* 1333312 BF*13333333211 C7*3333333333333332221 CF*333333333333333333333333321211 D7*33333333333333333333333333333333 DF*33333333333333333333333333333333 E7*33333333333333333333333333333333 EF*33333333333333333333333333333333 F7*33333333333333333333333333333333 FF*33333333333333333333333333333333 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------> Low gain matrixes are caused by two different kinds of problems. If the camera has been set with a gain lower than 1V for minimum illumination, a low gain pattern with reduced BFCF percentages is produced. If the illumination of the lamps has decreased, such that a specific voltage to the lamps no longer produces the same amount of light, this type of pattern is also produced. Replace the lamps as a first course of action. Re-run the ERT and compare the new matrix with the original. Look for a change in the pattern produced. Second, compare against the low gain matrix for out of specification labels (example above). Look for a dim white background, or dull gray barcode.

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Low Gain Matrix

Third, replace the camera if all of the preceding mentioned fixes do not effect the matrix. Table C-5. Expanded Readability Test MatrixLow Gain Example 2 ***** Expanded Readability Test Matrix ***** 6F* 77* 7F* 87* 8F* 97* 9F* A7* 1 13 233 3333 333333 1333333332

AF*33333333333333331 B7*33333333333333333333333211 BF*33333333333333333333333333333333 C7*33333333333333333333333333333333 CF*33333333333333333333333333333333 D7*33333333333333333333333333333333 DF*33333333333333333333333333333333 E7*33333333333333333333333333333333 EF* F7* FF* 1122133333333333333333333 2333333 2333 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------> This type of low gain matrix has characteristics of a high gain matrix, in that the brighter lamp settings are failing, but the actual cause of this is a label that does not meet specifications. If the black contrast falls below specification, the lower VCT settings are below the black/gray level and do not detect a barcode, causing a failure to read. The effect shows up in the FF percentage, and in the D7F7 percentages. If the black of the barcode is gray enough it also impacts the BFCF percentages. This type of label would be very easy to distinguish. Have a sample label verified by the StorageTek Label SQE. Replace the complete label set if they are out of specification.

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High Gain Matrixes

s High Gain Matrixes

Table C-6. Expanded Readability Test MatrixHigh Gain Matrix
***** Expanded Readability Test Matrix *****

6F* 77* 7F* 87* 8F* 97*

232 332 3331 3332 33333 333331

9F* 2333333 A7*333333333333211 AF*333333333333333333333332311 B7*33333333333333333333333333333333 BF*33333333333333333333333333333333 C7*33333333333333333333333333333333 CF*33333333333333333333333333333333 D7*33333333333333333333333333333333 DF*33333333333333333333333333333333 E7*33333333333333333333333333333333 EF*33333333333333333333333333333333 F7*21 3 FF* 00112233445566778899AABBCCDDEEFF 7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F7F VCT axis ------> High gain matrixes (Table C-6) are produced when any one of three components in the vision system degrade. If the camera has a high gain setting, it saturates the signal and causes the image on the monitor to inflate; white areas will have a halo effect. This will cause low-to-0 values in the FF percentages. It could even reduce the D7F7 percentages but would leave the BFCF percentages at 100 percent. The lamps could also influence these matrixes by producing too much light intensity. It would have the same effect on the percentages, and it would cause inflating on the monitor. If the white background of the barcode label were very high, or the anti-reflection coating 22333332311133 3233223333

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on the label were missing, it would have the same effect on the test. This type of problem is the most difficult to diagnose. Have the label verified by the StorageTek Label SQE. If the label is out of specification, replace the complete set. Replace the lamps if the labels are in specification. Replace the camera if the lamp change produces the same ERT matrix.

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Index
Symbols
+ (plus)/- (minus) command, 7-8 vision, 2-9 CAP 21-cell FRU ID, 8-4 4410 FRU ID, 8-4 80-cell FRU ID, 8-4 interlock tests, 2-30 opened illegally event, 7-21 solenoid tests, 2-9 capacity, SI(ze) command, 4-4 card names command, 8-2 cartridge access port. See CAP cartridge drive, communications tests, 2-7 cartridge exchange mechanism. See CEM/PTP cartridge move operation, Test 810, 2-25 catalog command description, 9-1 examples, A-15 CATD command, 9-1 cautions configuration and installation, 4-2 SE(lect) command, 11-3 CEM/PTP basic control tests, 2-11 initialization tests, 2-16 load test, 2-28 motion tests, 2-19 CFG environment. See Configuration environment circuit cards, voltage/temperature values, 2-9 CL(rdump) command, 5-2 clear dump command, 5-2 clipper door tests, 2-12 CMZ card tests, 2-12 commands AN(alyze), 7-9 AU(dit), 11-1 BA(ud), 12-1 baud rate, 12-1 CA(ncel), 3-3 card names, 8-2 catalog, 9-1 CATD, 9-1 CL(rdump), 5-2 CN(ames), 8-2

Numerics
3270 status test, 2-33 3274, interface tests, 2-6 4410 FRU IDs, listed, 8-4

A
ACS Configuration environment, 4-1 diagnostic overview, 1-5 Disk Operating System environment, 6-1 Dump Control environment, 5-1 Error Log environment, 7-1 Field Replaceable Unit environment, 8-1 Library Diagnostic Language environment, 9-1 Machine Initiated Maintenance environment, 10-1 maintenance overview, 1-1 Standard environment, 11-1 test descriptions, 2-1 types of environments, 3-1 Utility environment, 12-1 AN(alyze) command, 7-9 AU(dit) command, 11-1 Automated Cartridge System. See ACS automatic fault isolation, 1-1

B
BA(ud) command, 12-1 barcode, C-1 baud rate command, 12-1 boot-level diagnostic tests, 2-1

C
CA(ncel) command, 3-3 camera DMA control test, 2-9 initialization tests, 2-16 Pulnix, C-5 Sony, C-6

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Index

common, 3-3 DE(lete), 4-3 DI(r), 6-2 DI(sable), 10-2 dismount, 9-2 DMTD, 9-2 DO(wnload) Error Log environment, 7-3 Field Replaceable Unit environment, 8-2 EN(able), 10-2 EX(amine), 8-2 extended print, 8-4 HE(lp), 3-3 IN(stall), 12-2 IPL, 12-2 LE(vel), 8-3 LI(st) Configuration environment, 4-2 Error Log environment, 7-3 Field Replaceable Unit environment, 8-3 Machine Initiated Maintenance environment, 10-3 LO(ad) Configuration environment, 4-3 Standard environment, 11-1 LO(g), 12-3 ME(ssage), 3-4 minus (-), 7-8 MNTD, 9-2 MO(dify) Configuration environment, 4-2 Field Replaceable Unit environment, 8-3 mount, 9-2 MOVD, 9-3 move, 9-3 plus (+), 7-8 PU(rge), 7-10 RE(ceive), 6-1 REN(ame), 6-3 RU(n), 11-2 SA(ve), 4-3 SE(lect), 11-3 SE(nd), 6-2 SE(t), 10-3 SI(ze), 4-4

SIT(eloc), 12-4 ST(atus) Dump Control environment, 5-1 Error Log environment, 7-8 Utility environment, 12-5 swap, 9-3 SWPD, 9-3 syntax, 3-2 TE(st), 10-4 time-of-day, 12-8 TO(d), 12-8 UN(lock), 7-2 VIEW, 9-4 XP(rint), 8-4 concurrent motion testing, 2-19 Configuration environment command list, 4-1 DE(lete) command, 4-3 Dual LMUs, 4-4 LI(st) command, 4-2 LO(ad) command, 4-3 MO(dify) command, 4-2 SA(ve) command, 4-3 SI(ze) command, 4-4 conventions, typographical, xxii crash stop, 4410 theta dynamic brake relay FRU ID, 8-4 Customer Support Services, 1-3

D
DAC/ADC tests, 2-8 damaged target example, A-19 DBR, 4410 FRU ID, 8-4 DE(lete) command, 4-3 DI(r) command, 6-2 DI(sable) command, 10-2 diagnostic log content, 7-22 event types, 7-22 overview, 7-1 diagnostic tests 3270 status, 2-33 400 series, 2-14 500 series, 2-17 700 series, 2-20 800 series, 2-25 900 series, 2-27 camera tests, 2-9

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Index

CAP solenoid tests, 2-9 CEM/PTP, 2-28 DGxx series, 2-10 E00 series, 2-29 extended duration testing, 2-29 F00 series, 2-30 functional tests, 2-25 inline tests, 2-12 LAN tests, 2-3 LMU floppy tests, 2-2 motion tests, 2-17 PROM CRC, 2-2 PTP/CEM tests, 2-28 REI servo, 2-8 REI write tests, 2-7 RU(n) command, 11-2 servo initialization tests, 2-14 special coverage, 2-27 temperature tests, 2-9 Test 190, 2-2 Test 1B0, 2-2 Test 1C0, 2-3 Test 200, 2-7 Test 210, 2-5 Test 220, 2-7 Test 230, 2-5 Test 240, 2-8 Test 250, 2-5 Test 260, 2-8 Test 270, 2-5 Test 280, 2-8 Test 290, 2-5 Test 2A0, 2-8 Test 2B0, 2-5 Test 2C0, 2-8 Test 2D0, 2-6 Test 2E0, 2-8 Test 300, 2-9 Test 310, 2-6 Test 320, 2-9 Test 340, 2-9 Test 410, 2-14 Test 420, 2-15 Test 430, 2-15 Test 440, 2-15 Test 450, 2-15 Test 460, 2-16 Test 470, 2-16

Test 480, 2-16 Test 510, 2-17 Test 520, 2-17 Test 530, 2-18 Test 550, 2-18 Test 560, 2-19 Test 580, 2-19 Test 5D0, 2-19 Test 5E0, 2-20 Test 5F0, 2-20 Test 710, 2-21 Test 730, 2-22 Test 750, 2-23 Test 810, 2-25 Test 820, 2-26 Test 830, 2-27 Test 910, 2-28 Test 920, 2-28 Test E20, 2-29 Test F10, 2-30 Test F30, 2-30 Test F50, 2-30 Test F60, 2-31 Test F70, 2-31 Test F90, 2-33 Test FB0, 2-34 Test FE0, 2-35 Test FF0, 2-36 testing procedure, 11-4 Tests 110/120, 2-2 Tests 130/140, 2-2 Tests 150/160, 2-2 Tests 170/180, 2-2 vision tests, 2-20 voltage tests, 2-9 dictionary, error code, B-1 direct memory access failure example, A-23 directory command, 6-2 Disk Operating System environment command list, 6-1 DI(r) command, 6-2 directory command, 6-2 RE(ceive) command, 6-1 REN(ame) command, 6-3 SE(nd) command, 6-2 dismount command, 9-2 DMA failure example, A-23 DMP environment. See Dump Control

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Index

environment DMTD command, 9-2 DO(wnload) command Error Log environment, 7-3 Field Replaceable Unit environment, 8-2 door access interlock test, 2-30 open/closed event types, 7-21 tests described, 2-11 DOS. See Disk Operating System environment Dual LMU FRU IDs, 8-5 special considerations Configuration environment, 4-4 Utility environment, 12-9 dumb terminal keys, 1-7 Dump Control environment CL(rdump) command, 5-2 clear dump command, 5-2 command list, 5-1 ST(atus) command, 5-1 dynamic brake relay, 4410 FRU ID, 8-4

E
empty cell Catalog example, A-17 EN(able) command, 10-2 environments general command syntax, 3-2 overview, 3-1 ERL. See Error Log environment error code dictionary, B-1 Error Log environment AN(alyze) command, 7-9 commands listed, 7-2 DO(wnload) command, 7-3 event types, 7-11 LI(st) command, 7-3 log types, 7-1 minus (-) command, 7-8 plus (+) command, 7-8 PU(rge) command, 7-10 ST(atus) command, 7-8 UN(lock) command, 7-2 ERT, C-2 event log damaged target example, A-19 general examples, A-1 read retry example, A-4

event types overview, 7-11 Type 01, 7-12 Type 02, 7-13 Type 04, 7-13 Type 05, 7-13 Type 06, 7-13 Type 07, 7-13 Type 08, 7-14 Type 09, 7-14 Type 0A, 7-15 Type 0B, 7-21 Type 0C, 7-21 Type 0D, 7-21 Type 0E, 7-21 Type 0F, 7-21 Type 10, 7-21 Type 11, 7-21 Type 12, 7-21 Type 13, 7-21 Type 14, 7-21 Type 15, 7-21 Type 20, 7-22 Type 21, 7-22 EX(amine) command, 8-2 examples Catalog, A-15 catalog command (LDL), 9-1 damaged target, A-19 DMA failure, A-23 empty cell Catalog, A-17 event log, A-1 event log contents, 7-10 Get commands, A-2 LI(st) command, 7-4 MNTD command, 9-2 MOVD command, 9-3 normal Get, A-2 normal Put, A-10 old picture found in memory, A-24 Put commands, A-10 quick Catalog, A-16 read retry, A-4 re-initialization during operation, A-27 SWPD command, 9-3 tape drive fault symptom code, A-19 theta inoperative, A-30 theta re-initialization, A-28

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VIEW command, 9-4 vision, A-19 VOLSER miscompare, A-6 Expanded Readability Test, C-2 extended print command Error Log environment, 7-4 Field Replaceable Unit environment, 8-4 Standard environment, 11-3

I
IN(stall) command, 12-2 initial program load. See IPL inline tests descriptions, 2-1 list, 2-12 overview, 1-2 interface peripheral module, error, 7-13 interface tests 3274 wake-ups, 2-6 DG07, 2-11 floppy disk, 2-2 LCU local-area-network, 2-3 LMU floppy tests, 2-2 LMUBUS, 2-6 vision, 2-11 interlock tests, 2-31 interrupt tests, 2-2 intervention required event type, 7-21 IPL command, 12-2 error, 7-13 IPM, error, 7-13

F
fault isolation, 1-1 fault symptom code dictionary, B-1 field replaceable unit configuration tests, 2-8 ID reading tests, 2-5, 2-8 Field Replaceable Unit environment card names, 8-2 changing information, 8-4 CN(ames) command, 8-2 command list, 8-1 DO(wnload) command, 8-2 EX(amine) command, 8-2 extended print command, 8-4 IDS, 4410 non-readable, 8-4 LE(vel) command, 8-3 LI(st) command, 8-3 MO(dify) command, 8-3 performance, 8-5 XP(rint) command, 8-4 finger, initialization tests, 2-15 floppy disk interface tests, 2-2 read tests, 2-3 verification testing, 2-30 FRU environment. See Field Replaceable Unit environment FSC dictionary, B-1 functional tests, 2-25

L
LAD door, 7-21 event type, 7-21 lamp, camera, 2-16 LAN packet reject, 7-14 tests, 2-3 LCU, interface tests, 2-3 LDL. See Library Diagnostic Language environment LE(vel) command, 8-3 LI(st) command Configuration environment, 4-2 Error Log environment, 7-3 Field Replaceable Unit environment, 8-3 Machine Initiated Maintenance environment, 10-3 library control unit. See LCU Library Diagnostic Language environment catalog command, 9-1 CATD command, 9-1 command list, 9-1

G
Get examples, A-2

H
HE(lp) command, 3-3 high gain matrix, C-9 host interface error, 7-12

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dismount command, 9-2 DMTD command, 9-2 MNTD command, 9-2 mount command, 9-2 MOVD command, 9-3 move command, 9-3 swap command, 9-3 SWPD command, 9-3 VIEW command, 9-4 library management unit. See LMU library storage module. See LSM library. See ACS LMU boot environment, 2-4 BUS interface tests, 2-6 changing FRU IDs, 8-5 Dual LMUs Configuration environment, 4-4 FRU ID information, 8-5 Utility environment, 12-9 floppy disk tests, 2-2 Internal Error Event Type 5, 7-13 IPL error (Event Type 02), 7-13 IPM data dump, 7-13 Error Type 04, 7-13 external wrap test, 2-31 LAN tests, 2-5 LO(ad) command Configuration environment, 4-3 Standard environment, 11-1 LO(g) command, 12-3 local area network. See LAN lock access door. See LAD low gain matrix, C-7 LQ card, temperature values, 2-9 LSM 4410 non-readable FRUs, 8-4 boot tests, 2-7 door interlock test, 2-30 door opened event type, 7-21 dump request event type, 7-21 error response, 7-14 Event Buffer Type A, 7-15 Event Type 6, 7-13 Event Type 9, 7-14 initialization tests, 2-14 motion test overview, 2-17

panel alignment utility, 2-36 performance (FRU), 8-5 servo mechanisms, 7-20 SI(ze) command, 4-4 tilt array test, 2-35 LU card, voltage/temperature values, 2-9 LW card, voltage/temperature values, 2-9 LX card, voltage/temperature values, 2-9

M
machine activated routing switch, 1-3 Machine Initiated Maintenance environment categories, 10-2 command list, 10-1 DI(sable) command, 10-2 EN(able) command, 10-2 installation requirements, 10-4 LI(st) command, 10-3 SE(t) command, 10-3 TE(st) command, 10-4 Machine Initiated Maintenance overview, 1-3 MARS+, 1-3 ME(ssage) command, 3-4 memory tests, 2-2 MIM environment. See Machine Initiated Maintenance environment MIM. See Machine Initiated Maintenance minus (-) command, 7-8 MJB, 1-3 MNTD command, 9-2 MO(dify) command Configuration environment, 4-2 Field Replaceable Unit command, 8-3 modem junction box, 1-3 modems, 1-3 modify 4410 non-readable FRUs, 8-4 mount command, 9-2 mount/dismount tests, 2-26 MOVD command, 9-3 move command, 9-3

N
non-readable, 4410 FRU IDs, 8-4 normal Catalog examples, A-15 normal Get example, A-2 normal Put example, A-10

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O
old picture found in memory example, A-24 organization of information in the manual, xix

P
paging tests, 2-2 panel alignment utility, 2-36 parity tests, 2-2 part numbers, publications, xxiii pass-thru port. See PTP/CEM performance monitoring, 1-2 plus (+) command, 7-8 POST, 1-5 Powderhorn boot tests, 2-10 PROM tests, 2-4 wrist initialization test, 2-15 wrist motion test, 2-17 Z motion tests, 2-18 processor, BUS interface tests, 2-6 PROM diagnostic tests, 2-1 PTP/CEM basic control tests, 2-11 initialization tests, 2-16 load test, 2-28 motion tests, 2-19 PU(rge) command, 7-10 publications on CD, xxv on electronic documentation center Web page, xxv related to this manual, xxiii Pulnix, camera, C-5 Put examples, A-10

basic servo tests, 2-8 basic write tests, 2-7 related publications, xxiii remote electronics interface. See REI remote maintenance command list, 10-1 equipment, 1-5 general, 1-3 overview, 1-3 REN(ame) command, 6-3 roll initialization tests, 2-14 motion tests, 2-17 RU(n) command, 11-2

S
SA(ve) command, 4-3 safety, xx SCC communications tests, 2-5 SE(lect) command, 11-3 SE(nd) command, 6-2 SE(t) command, 10-3 servo initialization, 2-14 parameters, 7-20 snapshot detection, 7-15 SI(ze) command, 4-4 SIT(eloc) command, 12-4 site location command, 12-4 solenoid tests, 2-12 Sony camera, C-6 ST(atus) command Dump Control environment, 5-1 Error Log environment, 7-8 Utility environment, 12-5 Standard environment AU(dit) command, 11-1 command list, 11-1 inline tests, 2-12 LO(ad) command, 11-1 RU(n) command, 11-2 SE(lect) command, 11-3 testing procedure, 11-4 statistical log event types, 7-22 overview, 7-1 swap command, 9-3

Q
quick Catalog example, A-16

R
RE(ceive) command, 6-1 reach initialization test, 2-15 motion tests, 2-18 re-init example, A-27 read retry example, A-4 real-time clock test, 2-5 REI

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operations, 2-27 SWPD command, 9-3

V
VIEW command, 9-4 vision barcode examples, C-1 camera types, C-1 event log examples, A-19 system overview, C-1 targeting, 2-21 testing overview, 2-20 VOLSER tests, 2-22 VOLSER miscompare example, A-6 voltage tests, 2-9 voltage/temperature values LU card, 2-9 LW card, 2-9 LX card, 2-9 volume serial number. See VOLSER

T
tape drive fault symptom code example, A-19 target, damaged, example, A-19 TE(st) command, 10-4 temperature tests, 2-9 tests. See boot-level diagnostic tests, diagnostic tests, inline tests, interface tests, interrupt tests, memory tests, paging tests, parity tests theta 4410 crash stop FRU ID, 8-4 4410 dynamic brake relay FRU ID, 8-4 initialization tests, 2-16 inoperative example, A-30 motion tests, 2-19 re-initialization example, A-28 tilted array utility, 2-35 time-of-day command, 12-8 TO(d) command, 12-8 trademarks used in this guide, xx transport communications test, 2-34

W
warning, entering an LSM, xx watchdog timer tests, 2-5 wild cards, 6-2 wrist initialization tests, 2-15 motion tests, 2-17

U
UN(lock) command, 7-2 Utility environment BA(ud) command, 12-1 baud rate command, 12-1 command list, 12-1 IN(stall) command, 12-2 IPL command, 12-2 LO(g) command, 12-3 SIT(eloc) command, 12-4 ST(atus) command, 12-5 time-of-day command, 12-8 TO(d) command, 12-8 UTL. See Utility environment

X
XP(rint) command Error Log environment, 7-4 Field Replaceable Unit environment, 8-4 Standard environment, 11-3

Z
Z assembly 4410 belt-driven FRU ID, 8-4 4410 FRU ID, 8-4 4410 lead screw FRU ID, 8-4 initialization tests, 2-15 motion tests, 2-18

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