SL8500/SL3000 - How to Troubleshoot "Servo Mech Reach" Events (Doc ID 1384809.1)

Last updated on JULY 20, 2023

Applies to:

Purpose

The hand assembly has a reach mechanism that is responsible for fetching or putting a cartridge from/to a designated location in the library.  A "servo mech reach" event occurs when the reach mechanism is not able to fully extend or retract during a fetch or put operation.

Possible causes of   "servo mech reach" errors are:
1.  defective motor
2.  power issues
3.  location full/obstructed issues
     example:    broken drive bezel
                      target slot already has a cartridge in it
                      tape physically stuck in the gripper
                      defective tape array

Examples of "servo mech reach" error messages:
-  Warning from device, cmo_user_put: Retry Performed 5611; servo mech reach event 5010 address = Cell(1,3,-18,2,8)

-  Error from device Code: 510 - Robot says location full/obstructed, servo mech reach event 5069 address = Drive(1,3,-2,1,3)

- Warning from device, cmo_user_put: Retry Performed 5611; servo mech reach event 5069 address = Drive(1,3,-1,1,3)

- Warning from device, cmo_user_put: hand empty, forcing successful flag=true, cmo_status=4, code=5069, opState=0; cmo_user_put: Retry Performed 5611; servo mech reach event 5069 address = Drive(1,3,2,1,3)


The result codes on the error messages above are defined below:
Error 5010 means "An excessive position error was detected during motion".
Error 5069 means "The max or min current was requested an excessive amount of times during a stall move with a minimum position not reached"

Troubleshooting Steps

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