13 Manual Operations

Door Interlocks

Door safety interlocks are located behind the front access doors of the base module and DEM. To open either access door, an access key is required.

Door safety interlocks are constantly monitored by the library controller. If an access door is opened during normal operation, an Emergency Robotics Stop condition is initiated and all library motors are immediately disabled. This prevents motors from operating while a library door is open. If the library is varied offline, opening the access door disconnects DC voltages to the rails and the power bus.

The door switches are also monitored when the library is powered off. A battery supplies power for the circuitry to detect a door opening/closing event while the library is powered off.

When a base module and DEM are connected together, opening an access door to either module automatically suspends operations within the entire library (the two door switches are connected in series).

Servo Power Interrupt

An additional safety feature is the servo power interrupt (SPI). If the library controller detects that a library motor is out-of-range, it will generate an SPI to turn off drive voltage to the faulty motor. This prevents a servo runaway condition until the cause of the problem can be determined.

Mechanical Door Releases

Each lock handle on the access doors of the base module and DEM includes a mechanical release which is painted yellow. This release serves as a safeguard in case a person is inside the library and the access door is accidentally closed and locked. When you push the release, it unlocks and opens the door.

Power Off the Library

Use this procedure to power down the library.

1. Ensure all jobs have completed and quieces the library.

2. Take all library drives offline (see "Change a Drive Online/Offline Status").

3. Take the library offline (see "Place the Library Online or Offline").

4. Open the rear doors of the Base Module and DEM (if present).

5. Turn off the power enable switches.

6. If necessary, turn off the circuit breakers on the PDUs.

Power On the Library

Use this procedure to power up the library.

1. Open the rear doors of the Base Module and DEM (if present).

2. If necessary, turn on the circuit breakers on the PDUs.

3. Turn on the power enable switches.

4. The library goes through the initialization sequence. If the access doors have been opened and closed, a full audit of the library will be performed.

Open the Main Door

1. Observe all safety precautions (see "Safety Precautions when Entering the Library").

2. Take all library drives offline (see "Change a Drive Online/Offline Status").

3. Take the library offline (see "Place the Library Online or Offline").

4. Insert the key into the door lock, and turn the key to unlock the door.

5. Pull up on the door latch to release it, and open the door.

6. Turn the key in the lock, to lock the door open, and then remove the key from the lock and keep it with you. This will prevent the door from being closed while you are in the library.

7. Enter the library.

Close and Lock the Main Door

Use this procedure to close and lock the main doors of the library. When you close the access door, the library will perform a full audit.

1. Verify that there are no loose items in the library.

2. If the access doors were locked open, insert the key into the door lock, and turn the key, to unlock the door.

3. Push the door closed and make sure it latches securely.

4. Turn the key in the lock, to lock the door closed.

5. Remove the key from the lock and keep it in a safe place.

6. If the library has been powered off, power it on. See "Power On the Library"for details.

Open AEM Door for Emergency Access

Use this procedure to gain emergency access to the AEM.

1. Insert the library access door key in the Deadbolt Override lock, and unlock the door by turning the key clockwise. The key cannot be removed from the lock while it is in the unlocked position.

2. Lift the AEM access door latch, and open the door. DO NOT force the AEM access door to open or close.

   All power to the robots is stopped immediately. All in-process jobs are stopped abruptly, and the robots and AEM CAPs are brought offline.

Close AEM Access Door

Use this procedure to close the AEM access door and re-initialize the library after performing an AEM emergency access. This procedure initiates a full audit of the library.

1. Close and latch the AEM access door. DO NOT force the AEM access door to open or close.

2. Lock the door by turning the key counter-clockwise in the Deadbolt Override lock.

   1. The library re-initializes.

   2. The robots go through their initialization sequence.

   3. A full audit of the library is conducted.

   4. The AEM CAP is brought online and returned to its default state.