JPH0810517B2 - Recon finger control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Outline] In a mass storage device that carries a magnetic tape cartridge by a plurality of accessors and performs read / write operations, when a reconfigurer removes an accessor that cannot be moved due to a failure, As the motor load increases and the moving speed decreases because the two accessors are moved, the moving speed is increased and the reconfiguring time is shortened by driving the motor with the current value instructed by the conversion table.

[Industrial applications]

The present invention relates to a mass storage device used as an external storage device of a computer system, and in particular, a reconfigure of an accessor for transporting a magnetic tape cartridge stored in a storage shelf (returning a faulty accessor to a storage).
The present invention relates to a reconfigure control method for controlling operation.

The mass storage device is provided with a storage shelf for storing a large number of magnetic tape cartridges, stores the magnetic tape cartridges in the storage shelf, and then the accessor equipped with a mechanical hand takes out the magnetic tape cartridge from the storage shelf and reads / reads it. It is composed of a kind of automatic warehouse that carries it to the write station and sets it, read / write to this magnetic tape cartridge, take it out from the read / write station after read / write is completed, and carry it to the storage shelf. There is.

As described above, the magnetic tape cartridge is gripped by the mechanical hand of the accessor and is transported between the storage shelf and the read / write station. Normally, two accessors are used to enhance the transportation efficiency.

By the way, if one accessor fails and stops midway, another accessor must act on its behalf,
The so-called reconfigure is performed by another accessor so that the faulty accessor is excluded from the hangar so that the accessor does not interfere with the action of the other accessor, but this reconfigure time is required to be short.

[Conventional technology]

 FIG. 3 is a diagram illustrating an example of a mass storage device.

In FIG. 3, LCF is a storage for the accessor 1A, which will be described later, and RCF is a storage for the accessor 1B, which will be described later. It is provided at both ends of the apparatus and is provided with accessor control circuits, and DEF stores the magnetic tape cartridge 3. The storage shelf 4 and a read / write station (not shown) for reading / writing the magnetic tape cartridge 3 are provided, and the SEF has the storage shelf 4 for storing the magnetic tape cartridge 3 on both wall surfaces. is there.

TEF is a storage shelf 4 for storing the magnetic tape cartridge 3.
In addition to the above, an inlet 5A for inserting a new magnetic tape cartridge from the outside, an outlet 5B for discharging a magnetic tape cartridge which is no longer needed, and a read / write station are provided.

1A and 1B are accessors, which drive the mechanical hand 2 in the vertical direction and in the rotational direction for accessing the storage shelves 4 on both sides, and the accessor 1A is a hangar LCF.
The accessor 1B moves along the lanes RLU and RLL provided above and below the DEF, SEF, and TEF with the hangar RCF as the home position.

The accessor 1A or 1B is driven by the accessor control circuit, moves along the rails RLU, RLL in the direction of arrow CD, and rotates the mechanical hand 2 in the direction of arrow E-F toward one wall surface. By moving in the GH direction, the mechanical hand 2 is positioned at the desired position of the magnetic tape cartridge 3 of the accommodation rack 4, and the mechanical hand 2 is driven at that position to grip and take out the magnetic tape cartridge 3. .

And accessor to read / write station
1A or 1B is moved to convey the magnetic tape cartridge 3, and the mechanical hand 2 is driven to set the magnetic tape cartridge 3 in the read / write station.

After the read / write is completed, the magnetic tape cartridge 3 is similarly grasped from the read / write station by a mechanical hand, taken out, and similarly conveyed and stored in the original accommodation shelf 4. Magnetic tape cartridge 3 input slot 5A
The same applies when carrying out from the storage shelf 4 to the discharge port 5B.

Here, if the accessor 1A has a failure such that the accessor 1A cannot move while being stopped at the SEF, for example, the accessor 1B performs the reconfigure operation of pushing the accessor 1A into the LCF and storing it.

 FIG. 4 is a diagram explaining a conventional operation.

V _R1 is the target speed when the accessor 1A or 1B alone moves in the direction of arrow CD shown in FIG. Accessor 1A by motor driven by accessor control circuit
Or 1B starts moving by accelerating the speed as shown by V _E1 , but the current i supplied to the motor at this time is i = K (V _R1 −V _E1 ), where K is the speed feedback amount. , K is represented by the difference of acceleration α / speed. And
Acceleration α is α = (K _t × I−F _cw ) / J, where K _t : torque constant I: current at constant motor speed F _cw : friction force J: inertia. Therefore, when the speed is slow, the current i is large and V _E1
Approaches V _R1 , the current i decreases and a certain difference is maintained between V _E1 and V _R1 . When the deceleration position point a of V _R1 is passed, the current i decreases and V _E1 also decreases accordingly, c
At the point, the control shifts to the control in which the accessor 1A or 1B is positioned at the target position.

Here, for example, if the accessor 1A stops due to a failure, the accessor 1B stores the accessor 1A in the LCF, so the reconfiguring operation is performed, but the impact of the accessor 1B colliding with 1A at this time is reduced. Therefore, set the target speed to a low speed as shown in V _R2 in Fig. 4 and accessor 1
Drive B.

If the accessor 1B hits the accessor 1A at the point d, the inertia J shown in the formula is doubled and the frictional force F _cw is also doubled. Therefore, the acceleration α is very small and the moving speed of the accessor 1B is e. It will remain slow as indicated by the dots.

[Problems to be solved by the invention]

As described above, conventionally, the time required for the reconfigurator is long, but the completion time for the operation instruction given from the computer system to the mass storage device is fixed, and if the delay is large, the processing efficiency of the entire computer system is lowered. There's a problem.

[Means for solving problems]

FIG. 1 is a block diagram of a circuit showing an embodiment of the present invention.

6 is a position sensor, 7 is a scale, 8 is a motor for driving the accessor, 9 is a tachometer, 10 is a direction determination circuit for detecting the moving direction of the accessor from the output of the tachometer 9,
Reference numeral 11 is a decoder for decoding the output of the position sensor 6, and 12 is a tacho counter for detecting the movement amount and speed of the accessor from the output of the tachometer 9.

13 is a measurement register for measuring the movement distance of the accessor,
14 is a processor that controls the operation of the accessor, 15 is a table that converts the velocity feedback amount K, 16 is a preset register that sets the movement amount of the accessor, 17 is an input register that stores the movement direction and speed command of the accessor,
Reference numeral 18 is a D / A conversion circuit for converting the digital value of the input register 17 into an analog value.

The processor 14 receives the reconfigure instruction, inputs the speed and direction to the input register 16, and then monitors the tacho counter 12, and when it detects that the load on the motor 8 has increased and the moving speed has decreased, the conversion table 15 is displayed. With reference to this configuration, the speed feedback amount K is corrected and a speed command for increasing the current i supplied to the motor 8 is given to the input register 16.

[Action]

With the above configuration, the processor 14 can correct the speed command given to the input register 16 to an appropriate value by referring to the conversion table 15, so that the motor 8
It is possible to prevent the reconfiger time from becoming long by increasing the current supplied to the drive circuit to increase the driving force and absorbing the increased load of the accessor.

〔Example〕

 FIG. 2 is a diagram for explaining the operation of FIG.

In FIG. 1, when the processor 14 receives the commander instruction, it sets the speed command and direction in the input register 17 according to the target speed V _R2 of the accessor, and the preset register
Set the movement amount of the accessor to 16 by the rotation amount of the motor 8. The D / A conversion circuit 18 converts the digital value of the input register 17 into an analog value and sends a current according to the rotation direction of the motor 8 and the speed command to the motor 8 to move the accessor.

A tachometer 9 attached to the motor 8 sends a tach pulse, a direction determining circuit 10 detects the rotation direction of the motor 8, and a tacho counter 12 counts the rotation amount and rotation speed of the motor 8. The tacho counter 12 is the processor 14
The rotation speed of the motor 8 is notified to the processor 8 and the rotation amount sent by the preset register 16 is counted.
Notify the completion of accessor movement.

A position sensor 6 is attached to the accessor, and the position information provided on the scale 7 is read and sent to the decoder 11. The position information decoded by the decoder 11 enters the measurement register 13, and the distance to the position of the intended storage shelf is measured, for example, and is sent to the processor 14. The processor 14 detects the deceleration point b based on this distance and uses the output of the decoder 11 to perform positioning control at the point c.

When the processor 14 detects from the rotation speed of the motor 8 sent by the tacho counter 12 that the load has increased and the rotation speed of the motor 8 has decreased due to the obstacle accessor at point d in FIG. The correction amount is read from the conversion table 15, the speed feedback amount K is corrected, and the corrected amount is sent to the input register 17.

Since the D / A conversion circuit 18 increases the current supplied to the motor 8 by the corrected speed feedback amount,
The moving speed of the accessor is improved from the point f, and the obstacle accessor is discharged into the hangar at the same speed as when the accessor moves by one unit, and the recognizer is completed.

〔The invention's effect〕

As described above, according to the present invention, since the reconfigure operation is executed at high speed, it is possible to prevent the deterioration of the processing efficiency of the computer system.

[Brief description of drawings]

 FIG. 1 is a block diagram of a circuit showing an embodiment of the present invention, FIG. 2 is a diagram illustrating the operation of FIG. 1, FIG. 3 is a diagram illustrating an example of a mass storage device, and FIG. It is a figure explaining the conventional operation. In the figure, 1A and 1B are accessors, 2 is a mechanical hand, 3 is a magnetic table cartridge, 4 is a storage shelf, 5A is an inlet, 5B is an outlet, 6 is a position sensor, 7 is a scale, 8 is a motor, and 9 is Tachometer, 10 direction determination circuit, 11 decoder, 12 tachometer counter, 13 measurement register, 14 processor, 15 conversion table, 16 preset register, 17 input register, 18 D / A conversion circuit .

Claims (1)

[Claims] 1. A magnetic tape cartridge is carried by a plurality of accessors having a control means (14) for designating a current supplied to a motor (8) and a detection means for detecting the moving speed of the accessor from the motor (8). In a large capacity storage device, a conversion table (15) for instructing the control means (14) of a current value supplied to the motor (8) at the time of reconfiguring.
When the control means (14) is instructed to perform the reconfigure, the moving speed of the accessor that executes the reconfigure is detected from the detecting means, and when the moving speed of the accessor decreases, the conversion table (15 ) Supplies a current value instructed to the motor (8).