I have 4 3570 tape devices, each with 2 drives. ADSM need not be aware of the
cleaning cartridge.
The cartidge is inititally loaded in the reserved slot and then auto-cleaning
is ENABLED. All of this is done at the tape device itself.
When cleaning is needed, the catridge will be transferred to the drive in
question and CLEANING status will appear on the device display.
At any time though you can perform an on-demand cleaning walking thru the
options on the display window on the device.

From the CLEAN option on the main display
you can perform cleaning of either drive
and inser/remove the cleaning tape...

there is another function on the main display to ENABLE/DISABLE cleaning ....