2-6 Overview DOC D00 025-A
2.4.5 Handling unit
The handling unit identifies and moves cartridges between the storage
cells, drives and the I / O un i t.
Figure 2-4: AML/J handling unit
Access to the archive compartments and th e drives is facilitated with the
handling unit. The handling unit executes the commands of the AML
Management Software (AMS) and returns status messages as response.
The handling unit is equipped with a (laser) barcode scanner. Typical
tasks of the handling unit are inserting and ejecting cartridges, placing
and gripping cartridges in the archive, mounting the connected drives
with the cartridges and reading a barcode label attached to the car-
tridges.

Technical data of the handling unit

• Cartesian robot with 4 axes:
−3 linear axes
−1 rotary axis
• Drive with direct current servomotors
• Position measuring system (optical digital encoder) and home posi-
tion sensors
• Transmission of the torques with toothed drive belts
• Driving axis guided
−with rollers on 2 guide rods below
−by one guide rod with loose bearing (play compensation) above