Abstract: A library has a physical cartridge access port (PCAP) for receiving cartridges which are to be entered/ejected into/out of the library. The library is partitioned into partitions each having a set of the library cells such that the library appears to a host as multiple libraries with each partition appearing to the host as a respective one of the multiple libraries. Some cells are reserved for use by the partitions as virtual cartridge access ports (VCAPs) which appear to the host as being the PCAP such that cartridges, which are to be ejected out of the partitions, are exported from the cells of the partitions to the VCAPs for subsequent transfer from the VCAPs to the PCAP, and such that cartridges, which are to be entered into the partitions, are imported from the VCAPs to the cells of the partitions after having been moved from the PCAP to the VCAPs.

Abstract: A system and method of adaptively engaging cartridges stored in an automated cartridge library are provided. Upon receiving a request to extend a reach mechanism of a robot arm to engage a cartridge stored in a selected cell, a library controller initiates a move profile to extend the reach mechanism from a starting position toward the cartridge. The move profile comprises a set of commanded positions and corresponding commanded velocities. A motor controller in communication with the library controller compares a sensed position of the reach mechanism, provided by a position feedback sensor associated with a reach motor, with the commanded position to determine a position error. The motor controller maintains the move profile until the position error exceeds an error threshold, indicating engagement of the cartridge by the reach mechanism.