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SL8500/SL3000 - How to Troubleshoot "servo mech grip" Events (Doc ID 1382859.1)

Last updated on OCTOBER 11, 2023

Applies to:

Sun StorageTek SL8500 Modular Library System - Version Not Applicable to Not Applicable [Release N/A]
Sun StorageTek SL3000 Modular Library System - Version Not Applicable to Not Applicable [Release N/A]
Information in this document applies to any platform.


The gripper is the portion of the robot's hand assembly that grasps and holds the cartridge during put and
fetch operations.  A reach mechanism or motor is responsible for extending or retracting the gripper when
putting or fetching a cartridge at a designated location.

Various sensors guide the gripper during its operation:
   - reach safe sensor
   - cartridge present sensor
Most servo mechanical grip errors are caused by problems with the reach mechanism or the voltage
fluctuations affecting the hand assembly.   Here are some of the more common library Result codes affecting
the gripper:
-- Error 5011 means "A tachometer phase error was detected"
-- Error 5069 means "The max or min current was requested an excessive amount of times during a stall
                      move with a minimum position not reach"
-- Error 5065 means "A motor hall error was detected"


Troubleshooting Steps

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In this Document
Troubleshooting Steps

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