EP0276967A2 — Automated cartridge system

Claim 1

Independent Claim 187 words

In a data processing system, a storage and retrieval subsystem comprising: a plurality of magnetic tape cartridges, each of said plurality of magnetic tape cartridges being adapted to have data written thereto and read therefrom; a host computer; library means for storing said plurality of magnetic tape cartridges in substantially upright positions, said library means including a first cylindrical array of storage cells centered about a vertical axis and a second cylindrical array concentrically arranged about said first array; a library tape unit including a plurality of tape drives, each of said plurality of tape drives being adapted to receive one of said plurality of magnetic tape cartridges in a substantially horizontal transducing position; robotic means for transferring said plurality of magnetic tape cartridges between their substantially upright storage positions and the substantially horizontal transducing positions at said plurality of tape drives; outboard controller means adapted to receive commands from said host computer for interfacing between said host computer and said library means; and inboard controller means adapted to receive commands from said outboard controller means for interfacing between said outboard controller means and said robotic means.

Claim 2

Dependent Claim 187 words

In a data processing system, a storage and retrieval subsystem comprising: a plurality of magnetic tape cartridges, each of said plurality of magnetic tape cartridges being adapted to have data written thereto and read therefrom; a host computer; library means for storing said plurality of magnetic tape cartridges in substantially upright positions, said library means including a first cylindrical array of storage cells centered about a vertical axis and a second cylindrical array concentrically arranged about said first array; a library tape unit including a plurality of tape drives, each of said plurality of tape drives being adapted to receive one of said plurality of magnetic tape cartridges in a substantially horizontal transducing position; robotic means for transferring said plurality of magnetic tape cartridges between their substantially upright storage positions and the substantially horizontal transducing positions at said plurality of tape drives; outboard controller means adapted to receive commands from said host computer for interfacing between said host computer and said library means; and inboard controller means adapted to receive commands from said outboard controller means for interfacing between said outboard controller means and said robotic means.

Claim 3

Dependent Claim 83 words

A storage and retrieval subsystem according to claim 1, wherein said robotic means comprises: a support column centered on said vertical axis; an arm assembly rotatably mounted upon said support column, said arm assembly being adapted for rotation about said vertical axis; a wrist assembly mounted at the distal end of said arm assembly between said first and second arrays; and means, coupled between said arm assembly and said wrist assembly, for moving said wrist assembly vertically with respect to said arm assembly.

Claim 4

Dependent Claim 18 words

A storage and retrieval subsystem according to claim 2, wherein said robotic means further comprises a vision system.

Claim 5

Dependent Claim 37 words

A storage and retrieval subsystem according to claim 3, wherein said vision system comprises: a pair of video cameras adapted to read OCR codes; and interface logic and memory means for fine positioning of said wrist assembly.

Claim 6

Dependent Claim 45 words

A storage and retrieval subsystem according to claim 2, wherein said wrist assembly comprises: a turntable; and a pair of hand assemblies mounted upon said turntable in opposing relationship. both of said pair or hand assemblies including a gripper assembly adapted to grasp said cartridges.

Claim 7

Dependent Claim 32 words

A storage and retrieval subsystem according to claim 5, wherein said gripper assembly further comprises means for rotating said cartridges between their substantially upright storage positions and the substantially horizontal transducing positions.

Claim 8

Dependent Claim 24 words

A storage and retrieval sybsystem according to claim 2, wherein said robotic means further comprises a remote electronics interface mounted on said arm assembly.

Claim 9

Dependent Claim 26 words

A storage and retieval subsystem according to claim 1, wherein said library means further comprises means for manually inputting and outputting a plurality of said cartridges.

Claim 10

Dependent Claim 64 words

A storage and retrieval subsystem according to claim 8, wherein said manua] input/output means comprises: a cartridge access port mounted within and adapted to open outwardly from said second array; a third array of storage cells attached to said cartridge access port; and means for preventing access to said first and second arrays when said cartridge access port is open exposing said thrid array.

Claim 11

Dependent Claim 26 words

A storage and retrieval subsystem according to claim 1, further comprising: means for transferring a plurality of said cartridges remotely from said first and second arrays.

Claim 12

Dependent Claim 234 words

An improved storage and retrieval subsystem in a data processing system having ahost computer and a plurality of tape transports coupled for communication with the host computer, each of the tape transports being adapted for use with magnetic tape cartridges. wherein the improvement in combination therewith comprises: a first array of storage cells, each of said cells consisting essentially of a back portion and bottom portion separating two side portions, and an open front portion adapted for insertion of one of the magnetic tape cartridges, wherein said cells are radially disposed about a vertical axis with their respective front portions inwardly directed thereto; structural means for supporting said first array, said structure means including a floor portion, ceiling portion, and a segmented wall portion substantially surrounding said first array; a second array of storage cells, an upper portion thereof being suspended from said ceiling portion and a lower portion thereof mounted on said floor portion wherein an open path is defined there between. said upper and lower portions having their cells radially disposed about said vertical axis concentrically inward from said first array with their respective front portions outwardly directed therefrom; a robot mounted for rotation about said vertical axis, said robot including means for transferring the cartridges between said cells and the tape transports and means adapted to receive commands from the host computer for interfacing between the host computer and said robot.

Claim 13

Dependent Claim 234 words

An improved storage and retrieval subsystem in a data processing system having ahost computer and a plurality of tape transports coupled for communication with the host computer, each of the tape transports being adapted for use with magnetic tape cartridges. wherein the improvement in combination therewith comprises: a first array of storage cells, each of said cells consisting essentially of a back portion and bottom portion separating two side portions, and an open front portion adapted for insertion of one of the magnetic tape cartridges, wherein said cells are radially disposed about a vertical axis with their respective front portions inwardly directed thereto; structural means for supporting said first array, said structure means including a floor portion, ceiling portion, and a segmented wall portion substantially surrounding said first array; a second array of storage cells, an upper portion thereof being suspended from said ceiling portion and a lower portion thereof mounted on said floor portion wherein an open path is defined there between. said upper and lower portions having their cells radially disposed about said vertical axis concentrically inward from said first array with their respective front portions outwardly directed therefrom; a robot mounted for rotation about said vertical axis, said robot including means for transferring the cartridges between said cells and the tape transports and means adapted to receive commands from the host computer for interfacing between the host computer and said robot.

Claim 14

Dependent Claim 53 words

The improvement according to claim 11, wherein said robot comprises: a support column mounted upon said floor portion; a theta arm rotatably mounted upon said support column, said theta arm heiog adapted to rotate horizontally within the open path defined between said upper and lower portions; and means for rotating said theta arm.

Claim 15

Dependent Claim 57 words

The improvement according to claim 12, wherein said transfer means comprises: a turntable adapted for movement between said first and second arrays; a pair of hand assemblies mounted in an opposed relationship upon said turntable; and means, attached to the distal end of said theta arm, for moving said turntable vertically with respect to said theta arm.

Claim 16

Dependent Claim 43 words

The improvement according to claim 13, wherein each of said hand assemblies comprise: gripper means for holding one of the cartridges; means for extending and retracting said gripper means; and means for rotating said gripper means about its axis of extension and retraction.

Claim 17

Dependent Claim 76 words

The improvement according to claim 14, wherein said gripper means comprise: a pair of fingers; toggle means coupled to said pair of fingers for opening and closing same; a lead screw coupled to said toggle means; a nut threadedly coupled to said lead screw; and motor measn rigidly coupled to said nut in order to rotate same thereby causing said lead screw to move towards or away from said toggle means and opening or closing same.

Claim 18

Dependent Claim 73 words

The improvement according to claim 14, wherein said extension and retraction means comprises: a pair of rods slidingly supporting said gripper means upon a plurality of roller bearings; a lead screw; a nut threadedly coupled to said lead screw and rigidly attached to said gripper means; motor means attached to said lead screw for rotating same thereby causing said nut and said gripper means to move along its axis of extension and retraction.

Claim 19

Dependent Claim 47 words

The improvement according to claim 14, wherein said rotating means comprises: a motor; a first gear attached to said motor; and a second gear, larger than said first gear and coupled thereto by a belt, said second gear being attached to said hand assembly to rotate same.

Claim 20

Independent Claim 121 words

A method of storage and retrieval of data contained in a plurality of magnetic tape cartridges, comprising: forming a first cylindrical array of storage cells centered about a vertical axis, said first array comprising an upper and a lower portion; forming a second cylindrical array of storage cells concentrically arranged about said first array; rotatably deploying robotic means for picking and placing said plurality of magnetic tape cartridges from and to said first and second arrays; providing a plurality of tape drives adapted to receive said magnetic tape cartridges from said robotic means; and interfacing said first and second arrays, robotic means, and tape drives for maximizing access by a host computer to the data stored in said magnetic tape cartridges.

Claim 21

Independent Claim 121 words

A method of storage and retrieval of data contained in a plurality of magnetic tape cartridges, comprising: forming a first cylindrical array of storage cells centered about a vertical axis, said first array comprising an upper and a lower portion; forming a second cylindrical array of storage cells concentrically arranged about said first array; rotatably deploying robotic means for picking and placing said plurality of magnetic tape cartridges from and to said first and second arrays; providing a plurality of tape drives adapted to receive said magnetic tape cartridges from said robotic means; and interfacing said first and second arrays, robotic means, and tape drives for maximizing access by a host computer to the data stored in said magnetic tape cartridges.

Claim 22

Dependent Claim 28 words

The method according to claim 18, wherein said forming steps further comprise orienting said storage cells for maintenance of said magnetic tape cartridges in substantially upright positions therein.

Claim 23

Dependent Claim 44 words

The method according to claim 18, wherein said step forming said second array comprises: suspending said upper portion; and mounting siad lower portion beneath said suspended upper portion; wherein said suspended upper portion and said mounted lower portion form an access path there between.

Claim 24

Dependent Claim 54 words

The method according to claim 20, wherein said deploying step comprises: providing a support column at the vertical axis; coupling one end of a a rotatable arm to said support column for rotation within said access path; and coupling to the other end of said rotatable arm a pair of hand and finger assemblies.

Claim 25

Dependent Claim 28 words

The method according to claim 21, further comprising: supporting said pair of hand and finger assemblies upon a turntable; and providing means for raising and lowering said turntable.

Claim 26

Dependent Claim 26 words

The method according to claim 22, wherein said supporting step comprises mounting said pair of hand and finger assemblies in an opposing relationship upon said turntable.

Claim 27

Dependent Claim 39 words

The method according to claim 23, wherein said forming step of said second array includes forming a portion thereof for manually inputting a plurality of said cartridges, said portion being adapted for access by said hand and finger assemblies.

Claim 28

Dependent Claim 93 words

The method according to claim 24, further comprising: (a) manually inputting a plurality of said cartridges in said portion of said second array; (b) retrieving a selected one of the plurality of cartridges with said robotic means; (c) selecting one of said storage cells for storing said cartridge; (d) rotating said robotic means with said retrieved cartridges from said manual input portion of said selected storage cells; (e) placing said cartridge in its selected cell; (f) rotating said robotic means back to said manual input portion; and (g) repeating steps (b) through (f).

Claim 29

Dependent Claim 39 words

The method according to claim 25, wherein said retrieving step comprises: extending one of said hand and finger assemblies to said manual input portion; gripping said selected cartridge; and retracting said hand and finger assembly with said selected cartridge.

Claim 30

Dependent Claim 100 words

An automated method of retrieving data contained in a plurality of magnetic tape cartridges, comprising: storing said plurality of magnetic tape cartridges in a library having an outer cylindrical array of cells and an inner cylindrical array of cells, said outer array being radially inwardly disposed and said inner array being radially outwardly disposed; forming an access path between said outer and inner arrays; controlling a robot having six degrees of freedom within said access path for selectively picking and placing said cartridges; and coupling at least one tape drive adapted for use with magnetic tape cartridges with said library.

Claim 31

Dependent Claim 100 words

An automated method of retrieving data contained in a plurality of magnetic tape cartridges, comprising: storing said plurality of magnetic tape cartridges in a library having an outer cylindrical array of cells and an inner cylindrical array of cells, said outer array being radially inwardly disposed and said inner array being radially outwardly disposed; forming an access path between said outer and inner arrays; controlling a robot having six degrees of freedom within said access path for selectively picking and placing said cartridges; and coupling at least one tape drive adapted for use with magnetic tape cartridges with said library.

Claim 32

Dependent Claim 125 words

The method according to claim 27, further comprising: selecting a cartridge stored in a predetermined cell; rotating said robot within said access path to a first position corresponding radially to said predetermined cell; moving said robot vertically within said access path to a second position corresponding to the elevation of said predetermined cell; extending said robot to a third position proximate to said selected cartridge; gripping said selected cartridge with said robot; retracting said robot with said gripped cartridge to said second position; moving said robot with said gripper cartridge to a fourth position within said access path, said fourth position corresponding to the elevation of said tape drive; and extending said robot with said gripped cartridge to a loading position within said tape drive.

Claim 33

Dependent Claim 34 words

The method according to claim 27, wherein said coupling step comprises providing a cartridge tray rotatably mounted upon said tape drive for movement from an inclined loading position to a substantially horizontal transducing position.

Claim 34

Dependent Claim 24 words

The method according to claim 27, wherein said storing step further comprises arranging said cells to store said cartridges in a substantially upright position.

Claim 35

Dependent Claim 110 words

A magnetic tape cartridge storage and retrieval system, comprising: a plurality of library storage modules, each said module including a first cylindrical array having radially outwardly disposed storage cells and a second cylindrical array, concentrically arranged about said first array, said second array having radially inwardly disposed storage cells; first transfer means for manually inputting and outputting cartridges to and from said modules; a plurality of tap drives adapted for use with said cartridges; second transfer means for automatically moving selected ones of said cartridges between said modules; and third transfer means for selectively moving cartridges between said storage cells, said tape drives and said first and second transfer means.

Claim 36

Dependent Claim 110 words

A magnetic tape cartridge storage and retrieval system, comprising: a plurality of library storage modules, each said module including a first cylindrical array having radially outwardly disposed storage cells and a second cylindrical array, concentrically arranged about said first array, said second array having radially inwardly disposed storage cells; first transfer means for manually inputting and outputting cartridges to and from said modules; a plurality of tap drives adapted for use with said cartridges; second transfer means for automatically moving selected ones of said cartridges between said modules; and third transfer means for selectively moving cartridges between said storage cells, said tape drives and said first and second transfer means.

Claim 37

Dependent Claim 52 words

The system according to claim 31, wherein said first transfer means comprises: a cartridge access port formed in a said outer array and adapted to open outward therefrom; and a safety shield attached to said cartridge access port for preventing access to said storage module when said cartridge access port is opened.

Claim 38

Dependent Claim 49 words

The system according to claim 32, wherein said cartridge access port comprises: a box-like door hningedly coupled to said outer array, said door including an upper wall and a lower wall each having formed therein a cam groove; and a fixed array of storage cells mounted within said door.

Claim 39

Dependent Claim 61 words

The system according to claim 33, wherein said safety shield comprises: an articulate screen attached along one side thereof to said outer array; and a pair of cam followers, adapted to fit within said cam grooves, said cam followers coupled to said articulated screen for extending same across the opening in said outer array left upon opening of said access door.

Claim 40

Dependent Claim 38 words

The system according to claim 31, wherein said second transfer means comprises: means of interconnecting adjacent pairs of said modules; a rotatable carriage coupled to said interconnecting means; and an array of storage cells mounted upon said carriage.

Claim 41

Dependent Claim 41 words

The system according to claim 35, wherein said interconnecting means comprises: an access formed in each of said outer arrays; a cam surface coupled between adjacent pairs of accesses; and a pair of parallel guide rods extending perpendicularly between said accesses.

Claim 42

Dependent Claim 58 words

The system according to claim 36, further comprising: drive means for rotating said carraige, said drive means including a lead screw coupled to a nut mounted beneath said carriage and rotated by a drive motor attached thereto; and shaft encoder means attached to said drive motor for controllably rotating same thereby translating said nut along said lead screw.

Claim 43

Dependent Claim 112 words

The system according to claim 37, wherein said carriage comprises: a sled portion attached to said nut; roller bearing means attached to said sled portion and coupled to said guide rods for controlling the movement of said sled portion between said modules; a plate supporting said array of storage cells; a spring loaded pivot pin coupled between said plate and said sled portion; a pair of cam followers attached to said plate; wherein translation of said nut along said lead screw forces said cam followers upon said cam thereby rotating said array of storage cells from the outer array of one said module to the outer array of the other interconnected module.

Claim 44

Dependent Claim 94 words

The system according to claim 31, wherein said third transfer means comprises: a supervisory-controlled robot including an arm mounted for rotation within said module, a wrist assembly coupled to said arm between said first and second arrays, a z-mechanism attached to said arm for raising and lowering said wrist assembly, a pair or hands mounted in an opposing relationship upon said wrist assembly, and a vision system; controller means coupled to said robot for directing the movement thereof and a carriage assembly for receiving cartridges from said robot and loading same upon tape drives.

Claim 45

Dependent Claim 141 words

In a data processing system having a host computer, a control unit for directing the flow of data to and from the host computer across a channel, and an automatic threading tape drive including a hub adapted for use with a single reel magnetic tape cartridge, a mass storage system comprising: library means for storing a plurality of the cartridges in substantially upright positions, said library means including a first cylindrical array of storage cells, each of which is adapted to contain one of the cartridges, and a second cylindrical array of said storage cells concentrically arranged about said first array; automated means for loading a selected one of the cartridges upon the tape drive in a substantially horizontal transducing position, and means, adapted to receive a plurality of commands form the host computer, for controlling said automated cartridge loading means.

Claim 46

Dependent Claim 141 words

In a data processing system having a host computer, a control unit for directing the flow of data to and from the host computer across a channel, and an automatic threading tape drive including a hub adapted for use with a single reel magnetic tape cartridge, a mass storage system comprising: library means for storing a plurality of the cartridges in substantially upright positions, said library means including a first cylindrical array of storage cells, each of which is adapted to contain one of the cartridges, and a second cylindrical array of said storage cells concentrically arranged about said first array; automated means for loading a selected one of the cartridges upon the tape drive in a substantially horizontal transducing position, and means, adapted to receive a plurality of commands form the host computer, for controlling said automated cartridge loading means.

Claim 47

Dependent Claim 60 words

The system according to claim 40, wherein said automated cartridge loading means comprises: robotic means for transferring said selected cartridge between the substantially upright storage positions to a position proximate the tape drive; and carriage means, attached to the tape drive, for receiving said selected cartridge from said robotic means and for loading same in said substantially horizontal transducing position.

Claim 48

Dependent Claim 89 words

The system according to claim 41, wherein said carriage means comprises: a rotatable tray, adapted to contain said selected cartridge within the tape drive for reading data therefrom and writing data thereto, said tray rotating from an elevated receiving position to said substantially horizontal transducing position; means for rotating said trays; sensing means for detecting when said selected cartridge is in said receiving and transducing positions; and control means coupled between said rotating means and said sensing means for engaging and disengaging said selected cartridge and the tape drive.

Claim 49

Dependent Claim 18 words

The system according to claim 42, wherein said elevated receiving position comprises an angle of approximately ten degrees.

Claim 50

Dependent Claim 60 words

The system according to claim 42, wherein said tray comprises: a base portion having a centrally disposed hole formed therein for access to the hub; a top plate covering said base portion, thereby forming a housing for said selected cartridge; and spring means coupling said top plate to said base portion for uniformly pressing said selected cartridge upon the hub.

Claim 51

Dependent Claim 57 words

The system according to claim 44, wherein said rotating means comprises: a stepper motor having a shaft; a drive gear coupled for rotation by said shaft; a driven gear engaging said driver gear, said driven gear having formed thereon an arcuate wiper; and cam means coupled to said driven gear for raising and lowering said base portion.

Claim 52

Dependent Claim 61 words

The system according to claim 45, wherein said sensing means comprises: first switch means attached to said base portion for determining the presence therein of said selected cartridges; and second and third switch means activated by said wiper for detecting when said selected cartridge is up, corresponding to said elevated receiving position, and down, corresponding to said substantially horizontal transducing position.

Claim 53

Dependent Claim 26 words

The system according to claim 46, further comprising fourth switch means attached to said base portion for determining whether said selected cartridge is a clean cartridge.

Claim 54

Dependent Claim 43 words

The system according to claim 46, wherein said top plate further comprises a leaf spring projecting there through towards said base portion for biasing said selected cartridge down to retain it within said base portion against reactive forces of said first switch means.

Claim 55

Dependent Claim 69 words

The system according to claim 45, wherein said cam means comprises: first and second cams having cam grooves formed therein, said cam gooves including over-travel portions at either end thereof; a shaft coupling said cams to said driven gear for rotation thereby; and linkage means coupled to said base portion and said tape drive, said linkage means including a pair of cam pins for engagement with said cam grooves.

Claim 56

Dependent Claim 132 words

A mass storage subsystem for a data processing system having a host computer, a control unit for directing flow of data to and from the host computer across a channel, and automatic thread tape drive means for reading data from and writing data to a single reel magnetic tape cartridge, comprising: library means for storing a plurality of the cartridges in substantially upright positions, said library means including a first cylindrical array of said storage cells concentrically arranged about said first array; automated means for loading a selected one of the cartridges upon the tape drive means in a substantially horizontal transducing position; means, adapted to receive a plurality of commands for the host computer, for controlling said automated cartridge loading means; and calibration means for adjusting said automated cartridge loading means.

Claim 57

Dependent Claim 132 words

A mass storage subsystem for a data processing system having a host computer, a control unit for directing flow of data to and from the host computer across a channel, and automatic thread tape drive means for reading data from and writing data to a single reel magnetic tape cartridge, comprising: library means for storing a plurality of the cartridges in substantially upright positions, said library means including a first cylindrical array of said storage cells concentrically arranged about said first array; automated means for loading a selected one of the cartridges upon the tape drive means in a substantially horizontal transducing position; means, adapted to receive a plurality of commands for the host computer, for controlling said automated cartridge loading means; and calibration means for adjusting said automated cartridge loading means.

Claim 58

Dependent Claim 65 words

The sytem according to claim 50, wherein said automated cartridge loading means comprises: robotic means for transferring said selected cartridge between its substantially upright storage position to a position proximate the tape drive, said robotic means including means for providing five degrees of freedom within said library means, said providing means mounted for rotation upon a theta arm centrally disposed within said library means; and

Claim 59

Dependent Claim 14 words

digital camera means for fine positioning of said robotic means within said library means.

Claim 60

Dependent Claim 14 words

digital camera means for fine positioning of said robotic means within said library means.

Claim 61

Dependent Claim 29 words

The system according to claim 51, wherein said library means comprising a plurality of panels, each said panel having mounted thereon a plurality of rows of said storage cells.

Claim 62

Dependent Claim 115 words

The system according to claim 52, wherein said calibration means comprises: a fixed calibration module, including means adapted to mimic one of said cartridges in its storage cell, attached to said theta arm; and a plurality of calibration cartridges, each of which is rigidly attached to a respective panel in a predetermined storage cell thereon; wherein said fixed calibration module, through said control means and said digital camera means, adjusts each of the five degrees of freedom of said robotic means to comply with an ideal configuration of said first and second arrays, and said calibration cartridges, through said control means and said digital camera means, adjusts said robotic means for variations in said panels.

Claim 63

Dependent Claim 21 words

The system according to claim 53, wherein said calibration cartridges further comprises means for identifying the configuration of their respective panels.

Claim 64

Dependent Claim 133 words

In a mass storage subsystem for a data processing system having a host computer, a control unit for directing flow of data to and from the host computer across a channel, wherein the subsystem includes a robot having five degrees of freedom mounted for rotation upon an arm having a plurality of panels supporting storage cells in a cylindrical array, an automated method of calibrating the robot comprising the steps of: providing the arm with a fixed calibration module, said calibration module including means for mimicing a single reel magnetic tape cartridge in its storage cell; deploying the robot to said calibration module; exercising each of the five degrees of freedom of the robot upon said calibration module; and adjusting each degree of freedom as necessary to comport with said fixed calibration module.

Claim 65

Dependent Claim 133 words

In a mass storage subsystem for a data processing system having a host computer, a control unit for directing flow of data to and from the host computer across a channel, wherein the subsystem includes a robot having five degrees of freedom mounted for rotation upon an arm having a plurality of panels supporting storage cells in a cylindrical array, an automated method of calibrating the robot comprising the steps of: providing the arm with a fixed calibration module, said calibration module including means for mimicing a single reel magnetic tape cartridge in its storage cell; deploying the robot to said calibration module; exercising each of the five degrees of freedom of the robot upon said calibration module; and adjusting each degree of freedom as necessary to comport with said fixed calibration module.

Claim 66

Dependent Claim 23 words

The method according to claim 55, wherein said adjusting step includes teaching the robot its position within an ideally configured library storage module.

Claim 67

Dependent Claim 82 words

The method according to claim 56, further comprising forming a plurality of calibration cartridges, each of which is attached to a respective panel in a predetermined storage cell thereon; sequentially deploying the robot to each of the panels at said predetermined storage cell; exercising the robot upon said calibration cartridges; and determining variations in said panels from said ideally configured library storage module; and teaching the robot said variations whereby subsequent deployments to said panels include an offset corresponding to said variations.

Claim 68

Dependent Claim 29 words

The method according to claim 57, further comprising providing each of said calibration cartridges with means for identifying the configuration of the storage cells supported upon its respective panel.

Claim 69

Dependent Claim 157 words

In a data storage and retrieval subsystem of a data processing system, the subsystem including a library storage module for storing a plurality of magnetic tape cartridges in a pair of substantially cylindrical arrays disposed concentrically about a vertical axis, a robot for transferring the cartridges comprising: an arm mounted for rotation about the vertical axis; means, attached to the end of said arm, for raising and lowering the cartridges parallel to the vertical axis; a turntable mounted for rotation upon said raising and lowering means; a pair of hands mounted for extension and retraction in an opposed relationship upon said turntable, said hands being adapted for rotation about their axes for extension and restraction; means for rotating said turntable; and means for rotating said hands; wherein each of said arms, said means for raising and lowering the cartridges, said turntable, said hands, and said rotating means act independently one from the other thereby minimizing diagnostic control.

Claim 70

Dependent Claim 157 words

In a data storage and retrieval subsystem of a data processing system, the subsystem including a library storage module for storing a plurality of magnetic tape cartridges in a pair of substantially cylindrical arrays disposed concentrically about a vertical axis, a robot for transferring the cartridges comprising: an arm mounted for rotation about the vertical axis; means, attached to the end of said arm, for raising and lowering the cartridges parallel to the vertical axis; a turntable mounted for rotation upon said raising and lowering means; a pair of hands mounted for extension and retraction in an opposed relationship upon said turntable, said hands being adapted for rotation about their axes for extension and restraction; means for rotating said turntable; and means for rotating said hands; wherein each of said arms, said means for raising and lowering the cartridges, said turntable, said hands, and said rotating means act independently one from the other thereby minimizing diagnostic control.

Claim 71

Dependent Claim 49 words

The robot according to claim 59, further comprising a plurality of tooling holes formed respectively in said arm, said means for raising and lowering the cartridges, said turntable, and said hands, each said tooling hole being adapted for insertion of a pin registering its respective component for individual alignment.

Claim 72

Dependent Claim 129 words

An automated system for storing and retrieving data contained in a plurality of magnetic tape cartridges, comprising: a host computer adapted to communicate across a channel; library means for storing the plurality of magnetic tape cartridges in substantially upright positions; a plurality of tape transports, each of which are adapted to receive one of the magnetic tape cartridges in a substantially horizontal transducing position, attahed to said library means in a vertical arrangement; robotic means for transferring the magnetic tape cartridges between their substantially upright storage positions and the substantially horizontal transducing positions at each of said tape transports; first control means for managing the writing and reading of data to and from the cartridges mounted in said tape transports; and second control means for managing said libarary means.

Claim 73

Dependent Claim 129 words

An automated system for storing and retrieving data contained in a plurality of magnetic tape cartridges, comprising: a host computer adapted to communicate across a channel; library means for storing the plurality of magnetic tape cartridges in substantially upright positions; a plurality of tape transports, each of which are adapted to receive one of the magnetic tape cartridges in a substantially horizontal transducing position, attahed to said library means in a vertical arrangement; robotic means for transferring the magnetic tape cartridges between their substantially upright storage positions and the substantially horizontal transducing positions at each of said tape transports; first control means for managing the writing and reading of data to and from the cartridges mounted in said tape transports; and second control means for managing said libarary means.

Claim 74

Dependent Claim 53 words

The system according to claim 61, wherein said library means comprises: a first cylindrical array of storage cells centered about a vertical axis; a second cylindrical array of said cells concentrically arranged about said first array; and a plurality of panels connected together forming a polygonal outer wall for supporting said second array.

Claim 75

Dependent Claim 26 words

The system according to claim 62, wherein one of said plurality of panels is hinged thereby providing an access door to said first and second arrays.

Claim 76

Dependent Claim 77 words

The system according to claim 61, wherein said library means comprises: a plurality of library storage modules, each of which includes a first cylindrical array of storage cells centered about a vertical axis, a second cylindrical array concentrically arranged about said first array, and a plurality of panels connected together forming an outer wall having a preselected polygonal configuration for supporting said second array; and means, connecting said library storage modules, for exchanging therebetween cartridges stored therein.

Claim 77

Dependent Claim 36 words

The system according to claim 64, wherein said preselected polygonal configuration comprises a polygon which optimizes expansion of said library means through the addition of further library storage modules in groups of two, three or four.

Claim 78

Dependent Claim 14 words

The system according to claim 64, wherein said preselected polygonal configuration comprises a dodecahedron.

Claim 79

Dependent Claim 76 words

The system according to claim 64, wherein said exchanging means connecting said library storage modules each comprise: a pair of cam surfaces, each of said cam surfaces attached to a respective library storage module; carriage means for holding a plurality of cartridges being exchanged between said library storage modules, said carriage means including a pair of cam followers; means for rotating said carriage means; and means for translating said carriage means between said library storage modules.

Claim 80

Dependent Claim 74 words

The system according to claim 67, wherein said translating means comprises: a lead screw mounted for rotation by a motor attached to one of said library storage modules; a nut threadedly coupled to said lead screw, said nut attached to and supporting said carriage means; and encoder means for determining the position of said carriage means with respect to said library storage modules by determining the number of turns made by said lead screw.

Claim 81

Dependent Claim 48 words

The system according to claim 67, wherein said means for rotating said carriage means comprises a torsion spring adapted to rotate said carriage means 90 degrees. - 70. The system according to claim 67, further comprising groove means for guiding said carriage means between said library storage modules.

Claim 82

Dependent Claim 115 words

71 The system according to claim 64, wherein said robotic means comprises: a support column centered on said vertical axes; an arm assembly rotatably mounted upon each said support column, said arm assembly being adapted for rotation about said vertical axis; a wrist assembly mounted at the distal end of said arm assembly between said first and second arrays, said wrist assembly including a turntable and a pair of hands mounted upon said turntable in an opposing relationship, both of said pair of hands having a gripper adapted to grasp said cartridges; and means, coupled between said arm assembly and said wrist assembly, for moving said wrist assembly vertically with respect to said arm assembly.

Claim 83

Dependent Claim 60 words

The system according to claim 71, further comprising: crash stop means for preventing over-rotation of said arm assembly; first sensor means for detecting rotation of said arm assembly; second sensor means for detecting rotation of said arm assembly; and home sensor means coupled to said first and second sensor means for determining the direction of rotation of said arm assembly.

Claim 84

Dependent Claim 81 words

The system according to claim 72, wherein said crash stop means comprises: a first gear attached to said arm assembly; a second gear coupled to said first gear and rotated thereby; a lead screw mounted for rotation by said second gear; guided nut means threadedly coupled to said lead screw for translation thereon; sensing means for detecting the position of said guided nut means on said lead screw; and damping means for reducing the force of rotation of said arm assembly.

Claim 85

Dependent Claim 30 words

The system according to claim 73, wherein said damping means comprises a plurality of Belleville washers coupled about said lead screw and adapted for compression by said guided nut means.

Claim 86

Dependent Claim 25 words

The system according to claim 71, wherein said robotics means further comprise digital camera means for positioning said wrist assembly relative to said storage cells.

Claim 87

Dependent Claim 57 words

The system according to claim 61, wherein said first control means comprises: channel adapter means for load balancing to increase throughput; cache means coupled between said channel adapter means and said tape transport for buffering data to and from said tape transport; second processor means for controlling activity on the transport side of said first control means;

Claim 88

Dependent Claim 54 words

The system according to claim 76, wherein said cache buffer means comprises: a first-in, first-out dynamic random access memory; and transfer control logic means for handling the flow of data, commands, and status between said channel adapter means said tape transport, and for checking the accuracy of data transferred to said cache buffer means.

Claim 89

Dependent Claim 51 words

The system according to claim 76, further comprises: a device adapter for managing communication with said tape transports; read sequencer means, controlled by said second processor means, receiving data from said tape transport for converting said received data into digital channel data and outputting said converted data to said tape transport.

Claim 90

Dependent Claim 20 words

The system according to claim 76, wherein said first and second processor means each include a multi-tasking, interrupt driven microprocessor.

Automated cartridge system

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