Calibration of a cartridge handling device using mechanical sense of touch.

摘要

Disclosed is an optical disk handling system (24), called an autochanger, having two control systems (150Y, 150Z) to provide the six motions necessary to move optical disk cartridges from storage holding cells to an optical drive. The system uses shaft encoders (62, 72) on two motors (60, 70) of the two control systems, and current or voltage feedback from the motors, for all positioning of the mechanisms controlled by the two control systems. This positioning includes initial calibration as well as detecting the location of the mechanisms during, and at the end of, moves. The shaft encoders (62, 72) are used to position a mechanism close to the eventual move location, then motor current or voltage feedback is used to determine the opposition to the movement of the mechanism, which tells the control system whether the mechanism has reached its destination. The control systems use a flip mechanism (49) in the autochanger to turn the cartridge over, allowing either side of the disk to be arranged for reading or writing by the optical drive. The control systems use a lateral displacement mechanism (51) to move a cartridge from a cell in one of the two columns of the autochanger to a cell in the other column, or to move a cartridge between the optical drive, which is located in one of the columns, to a cell in the other column. The control systems use a cartridge engaging mechanism (45) to attach to an exposed end portion of a cartridge positioned in a cell or the optical drive. A longitudinal displacement mechanism (47) is used by the control systems to move the cartridge, after attachment, out of the cell or optical drive. After positioning the cartridge vertically and laterally, the longitudinal displacement mechanism (47) is then used to move the cartridge into a cell or the optical drive, where the engaging mechanism (45) releases the cartridge. An important aspect of the invention is that the longitudinal displacement mechanism (47), the flip mechanism (49), the lateral displacement mechanism (51), the engagement mechanism (45), and the mailslot mechanism (41) are operated by one of the two control systems. The other of the two control systems is used for vertical displacement of the cartridge. During initialization of the cartridge handling system, it uses the shaft encoders (62, 72), along with current or voltage feedback from the motors, to calibrate the home locations of the mechanisms. The system determines the home position for vertical movement of the transport as well as the top and bottom positions used for the translate operation. The system then calibrates the plunge movement, the flip movement, and the translate movement. Finally, the system determines whether the path for all the movements is free of obstructions.