TS3310 Problems

[AlanAyala]

I have a two new TS3310 library with the following problems(one with a 9u expansion module an the other with 2 9u expansion modules):

T083: Robot Assembly not level

The firmware has detected a condition that indicates the Robot Assembly (Y carriage + Picker) is not installed level within the system. The robot assembly has drive gears that mate with rack gears inside the library modules. There are field assembly problems and hardware failure problems that can cause the robot assembly to not be level and therefore not function properly.​

T020: Cannot calibrate storage, motion OK​

System cannot successfully calibrate the position of a storage magazine but the calibration search pattern completes successfully.​

T007: X, Y, T​

​

​

motion obstruction, motion OK​

A complete physical obstruction exists in a motion path that precludes repeated attempts to move beyond a certain point in the range of motion. Servo control appears normal but a move profile cannot be completed. Cartridge may have been returned to a home slot.​

Sometime it displays this error​

T006: X, Y, T​

​

​

motion profile failure, no cartridge in Picker, motion NOT OK​

An unrecoverable motion failure occurs at an operational point where a cartridge is not in the Picker. Because the cartridge is not in the Picker, cartridge recovery is not necessary as part of the resolution to this issue. This cause specifically excludes any Z-axis motion failures. Specifically included are motion failures that occur while pivoting, moving on the X-axis or moving on the Y-axis.
____________________________________________________________

After many attempts of initialization, I realized the robot assembly was pushing or hitting the top cover of the library, after the robot assembly hits the top cover, the robot slides down to the bottom of the library, the alarm led turns on and no initialization occurs.

Did someone has had this problem??
Can it be a firmware poroblem?
Hardware problem?

I will appreciate any comment for the solution of this problem.

Best Regards,

Alan.​

 

[sgabriel62]

Alan
Call your CE like yesterday - the more attempts you do working with the robotics the more changes of them having to replace it.

 

[mlschlot]

We experienced the same problems when we installed our first TS3310 base and expansion units. Obviously, you have to remove the access covers so the robot can move unhindered between the units. BUT, we learned the hard way you must be very careful to ensure the plastic ladders the robot travels on are properly aligned when you mate the two chassis together. If the ladder sections aren't aligned and locked together properly the "Robot not level" error will be the first thing you see.

 

[AlanAyala]

The rack rails are properly aligned, the robot travels on them without any problem, also IBM replaced the robot assembly but the problem persist.

Best regards,

Alan

 

[tsm_dude]

The rack rails are properly aligned, the robot travels on them without any problem, also IBM replaced the robot assembly but the problem persist.

Best regards,

Alan

I have seen this before. Here`s the fix;
1. Power off the unit and Remove library top cover
2. Hold the robotic arm and gently lift it all the way up, it will travel along the guides, keep going until the arm is out of the guides.
3. Get someone at the other end and put the arm back into the guides, it is critical both sides go into the guides at the same time so it is aligned.
4. Let the arm drop, it should slowly move to the bottom of the library to the home sensor position.


When you setup the guides, sometimes the alignment goes out by a tooth or so, this should sort that out.

 

[AlanAyala]

Problem solved.

Best regards,

Alan