Abstract: A robotic library design for a mechanism that picks and places storage cartridges having a robotic shuttle assembly that moves parallel to the storage cartridges, a moveable stage that moves perpendicular to the storage cartridges, and a pair of gripping finger to retain, extract, and deposit the storage cartridges within the library subsystem. The pair of gripping fingers, initially biased in a closed position, are cammed open by the edges of the storage cartridge upon the moveable stage's approach and close upon engagement with the storage cartridge's notched recesses. The storage cartridge is moved within the library subsystem and is delivered to its destination when a solenoid activates a mechanical trigger that releases the pair of gripping fingers. The moveable stage completes the storage cartridge's delivery and resets for its next instruction.

Abstract: A computer data storage cartridge magazine for carrying data storage cartridges from conventional "off-line" storage to a storage library subsystem where cartridges may be electronically read or written. The magazine comprises a series of horizontally arranged slots. Each slot has a front spring lever which is operated by the user to insert and remove individual cartridges and a rear locking lever which is operated by the robotic mechanisms of the library subsystem. A safety bar extends substantially the length of the magazine and is located under the rear locking levers. The safety bar acts to ensure that the rear locking levers do not become accidently depressed when the magazine is carried by the user. The safety bar is disengaged by a mated pin when the magazine is inserted into the library subsystem. The rear locking levers may then be actuated (depressed) by an arm on the robotic mechanism of the library subsystem.

Abstract: A storage library subsystem comprising a frame, a robotic shuttle attached to and linearly movable relative to the frame, a media read/write device attached to the frame, and a storage media cartridge magazine attached to the frame. The robotic shuttle is provided with a plurality of ports for receipt and ejection of storage media cartridges. The media read/write device is disposed opposite a first port of the robotic shuttle at a first point of the linear movement of the robotic shuttle so that a storage media cartridge may be passed between the device and the robotic shuttle at the first point of linear movement. The magazine has at least one slot for storage of a storage media cartridge, the slot being disposed opposite a second port of the robotic shuttle at a second point of the linear movement of the robotic shuttle so that a storage media cartridge may be passed between the slot and the robotic shuttle at the second point of linear movement.

Abstract: A method and associated apparatus within a storage library subsystem for utilizing a single light source in combination with a single reflectivity sensor for multiple functions within the storage library subsystem. A laser light source and reflectivity sensor are mounted adjacent one another on the moveable robotic gripper hand internal to the storage library subsystem. The multiple sensing methods and apparatus of the present invention include use of the apparatus for calibrating the robotic positioning mechanisms to permit more tolerance for manufacturing variability, use of the apparatus to sense presence or absence of a magazine or cartridge within the library, and use of the apparatus for reading and decoding barcoded labels on the face of cartridges within the library. Use of a single, simple apparatus for these multiple purposes and functions permit reduction in the complexity of the library subsystem and therefore a reduction in the associated costs.

Abstract: A method and associated apparatus within a storage library subsystem for simply adapting the motion of a robotic mechanism for moving media cartridges to allow for mechanical misalignments. When retracting a cartridge from a slot in the library subsystem, the present invention monitors a sensor in the gripper hand to verify that the cartridge is not being pulled from the gripper due to "snagging" caused by mechanical misalignment of the had with the slot. When a snag is sensed, the methods and apparatus of the present invention stop the motion, initiate robotic actions to regroup the cartridge securely, and retry the retraction with adjustments to the robotic movements and positions to avoid the snag. When inserting a cartridge into a slot in the library subsystem, the present invention monitors the progress of the servo motor controlling the robot to determine whether the motion is blocked due to mechanical misalignment of the robotic mechanism with the slot.