Sun Microsystems StreamLine SL8500 User Manual

Page 51

Robotics Interface Module

96154 • Revision K

Chapter 1 Introduction 11

Note –

If there are multiple HandBots, each HandBot attempts initialization through

the following sequence. If a failure is encountered in one HandBot, that HandBot is

flagged as defective. Initialization continues for the other HandBots and, after they are

successfully initialized, the defective HandBot is pushed into the maintenance area for

replacement.

1. Logic/controller cards initialize (HBC, HBB).

2. Rail communication is established with the HandBots: this is accomplished through

the HandBot’s electrically conductive brushes that contact the rail. HandBots are

identified by number and hand address:

a. Number: the HandBot that encounters the left stop (referenced from the front of

the customer interface module) is HandBot number “1,” the one encountering the

right stop is HandBot number “2.”

b. Hand address: according to their rail location (numbered 1—4, from the top,

down). See

for more information.

3. If a service safety door is installed, the HBC card checks that:

a. Both maintenance keys are in the vertical (OFF) positions

b. The door is in the center (disengaged) position. If the door is not in the correct

position, the HBC card will issue the command to move it into its center position.

4. HandBots move vertically (this is the only HandBot motion that is controlled by the

microcode within the HandBot’s HBB card—all other motions are controlled by the

HBC card)

5. The gripper sensors are checked.

6. The hand retracts – this protects:

a. Hand components—if the hand’s “reach safe” sensor cannot be detected,

initialization stops.

b. A customer cartridge that may have been left in the gripper during a power

failure. If this is the case, the “cartridge present” sensor activates and the hand

holds the cartridge in the retracted position.

7. Belt-driven wrist moves counterclockwise.

8. For libraries without redundant HandBots, each HandBot moves to both the left and

right end stops.

9. For redundant HandBots:

a. Both HandBots move to their respective end stops

b. Both HandBots initialize.

c. The right HandBot remains at its end stop.

d. The left HandBot moves around the track to meet the right HandBot. This

distance is calculated by the HBC card as the absolute track distance

e. The left HandBot moves to the end of its track