JP2001057009A - Information recording and reproducing device and control method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow coordinate informatxon on housing parts housing recording media to be stored with a small memory amount. SOLUTION: This device has housing parts housing cassettes and also conveys the cassettes by a cassette conveying machine 16 to the housing parts while forming a cassette library 1 by connecting respective consoles 1B to 1D having recording and reproducing means performing recordings and reproductions to recording media. A library controllor 2 obtains and also stores correction values based on dimensional errors among respective consoles 1B to 1D and among the respective consoles 1B to 1D and the cassette conveying machine 16 by controlling the recording and reproducing means and the machine 16 and also by moving the machine 16 for searches and also obtains and stores coordinates of typical angular windows of the respective consoles 1B to 1D based on these correction values and then it calculates coordinates of the housing parts from these correction values and the coordinates of the typical angular windows.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information recording / reproducing apparatus for accommodating a recording medium and recording and reproducing information on the accommodated recording medium, and a control method therefor.

[0002]

2. Description of the Related Art Conventionally, a plurality of recording media (for example, cassette tapes or disk-shaped recording media) which can be attached to and detached from a recording / reproducing apparatus are stored, and if necessary, the recording media are stored in the storage media. To record various information,
There is a system for reproducing recorded information. Such a system is called a library system or an autochanger or the like, but will be referred to as a library system in the following description.

Some library systems have a predetermined configuration, while others have a configuration that can be changed to some extent according to the user. As a library system that can change the configuration in this way, for example,
A recording / reproducing console having a recording / reproducing device for recording / reproducing information on / from a recording medium, a recording medium storing console having a plurality of storage sections each capable of storing a recording medium, etc., are connected so as to be capable of changing their positions. Some consoles have a plurality of consoles, and a library system of various scales and arrangements can be constructed by arbitrarily combining these consoles. The recording / reproducing console has a plurality of storage sections each capable of storing a recording medium. Further, such a library system includes a transport device that transports a recording medium between an arbitrary storage unit and a recording / reproducing device, and a control unit that controls the recording / reproducing device and the transport device.

In this library system, a recording medium is transported between an arbitrary storage unit and a recording / reproducing device by a transport device based on control by a control unit.
Various information is recorded on the recording medium conveyed to the recording / reproducing apparatus by the recording / reproducing apparatus, and the recorded information is reproduced. In the transport device, the recording medium is transported by a motor.

In the library system, identification of a plurality of recording media is performed using, for example, identification information given to each of the recording media. The identification information is provided on the recording medium in the form of a barcode, for example. A reading device for reading identification information given to a recording medium is provided, for example, in a transport device that transports the recording medium. In addition, a unique number is also given to a plurality of storage sections for storing the recording medium.

[0006]

In the library system, a recording medium input / output console having an input / output port for inputting / outputting a recording medium is provided in addition to a recording / reproduction console and a recording medium storage console. It is necessary for the transport device to transport the recording medium between the above-described recording / reproducing device, the storage unit, and the input / output port unit. For this purpose, these parts, that is, the internal configuration of each console, especially each console, The coordinate information of the storage section (called a bin) of the recording medium provided in the printer is required. This bin coordinate information needs to be stored so that it can be used even when the power is turned on again after the power is turned off. However, the bin coordinate information of the entire system is
If the information is stored in a memory such as an EPROM, the amount of memory used has become enormous.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and an information recording / reproducing apparatus capable of storing bin coordinate information in a memory and reducing the amount of use of the memory, and an information recording / reproducing apparatus therefor. The purpose is to obtain a control method.

[0008]

An information recording / reproducing apparatus according to the present invention is a device assembly unit configured by combining a plurality of devices connected to each other so that their positions can be changed,
One of the plurality of devices includes a recording / reproducing unit that performs at least one of recording and reproduction of information by using a removable recording medium, and one of the plurality of devices includes a storage unit that can store the recording medium. And any of the plurality of devices include:
A device assembly having a design reference position, and between any storage unit and the recording / reproducing device in the device assembly, a transporting device for transporting a recording medium, a recording / reproducing device and a transporting device, and By performing a search by the transport unit, a correction value based on a dimensional error between each device and each device and the transport unit is obtained and stored, and the coordinates of the design reference position of the device are determined based on the correction value. Is obtained and stored, and control means for calculating the coordinates of the storage section from the correction value and the coordinates of the design reference position is provided.

Further, the method for controlling an information recording / reproducing apparatus according to the present invention is a device assembly unit configured by combining a plurality of devices which are connected to each other so that their positions can be changed. Includes recording / reproducing means for performing at least one of recording and reproduction of information using a removable recording medium, and any of the plurality of devices includes a storage unit capable of storing a recording medium, and a plurality of devices. One of the devices is a device assembly portion having a design reference position, a transport device for transporting a recording medium between any storage portion and the recording / reproducing device in the device storage portion, a recording / reproducing device, and a transport device. A control method for an information recording / reproducing apparatus, comprising: a control unit for controlling a unit, wherein the control unit causes the transport unit to perform a search based on a dimensional error between the device and the device and the transport unit. In addition to acquiring and storing the correction value, the coordinates of the design reference position of the device are acquired and stored based on the correction value, and the coordinates of the storage unit are calculated from the correction value and the coordinates of the design reference position. is there.

In the information recording / reproducing apparatus and the control method according to the present invention, the control means moves the transport means for searching, so that the correction value based on the dimensional error between the equipment and the equipment and the transport means is adjusted. The coordinates of the design reference position of the device are acquired and stored based on the correction value, and the coordinates of the storage unit are calculated from the correction value and the coordinates of the design reference position.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are configuration diagrams schematically showing a library system as an information recording / reproducing apparatus according to an embodiment of the present invention. FIG. 1 is a front view showing a basic configuration of the library system, and FIG. FIG. 2 is a plan view showing an overall configuration of the cassette library 1 shown in FIG.

[0012] The library system according to the present embodiment comprises:
A cassette library 1 for storing a plurality of video tape cassettes (hereinafter, simply referred to as cassettes) K as recording media and recording or reproducing information by using any of the stored cassettes K as required; A library controller 2 as control means for controlling the cassette library 1 is provided.

The library controller 2 comprises a controller main body 21 which is a device for controlling the cassette library 1, and a mouse and a keyboard for inputting and instructing information necessary for control to the controller main body 21. An input device 22 and a display device 23 connected to the controller body 21 and having a display screen for displaying information and the like accompanying control are provided. The controller body 21 includes, for example, transmission lines 24 and 25 of the RS-232C standard.
Is connected to the cassette library 1. The controller main body 21 is, for example, a SCSI (Small
A transmission path 31 conforming to the Computer System Interface standard enables connection to a host computer 3 as a client that uses the cassette library 1.
The controller main body 21 is, for example, an Ethernet (E
communication network 3 of a predetermined standard such as
2, it is also possible to connect to the host computer 3.

The cassette library 1 includes four types of consoles, namely, a basic console 1B, a drive console 1D, a cassette console 1C, and a junction console 1J, and transport means for transporting the cassette K inside the cassette library 1. And a cassette transporter 16. The four consoles are
The cassette libraries 1 are selectively connected so that their positions can be changed, and the cassette library 1 can have a library configuration using some or all of these four types of consoles. The minimum required configuration of the cassette library 1 for realizing the library system is the configuration of the basic console 1B and the drive console 1D.

Here, in FIG. 1, the cassette library 1
Only the basic configuration is shown, and an example is shown in which one side of the drive console 1D is connected to one side of the basic console 1B and one side of the cassette console 1C is connected to the other side of the drive console 1D. I have. Further, in FIG. 2, on one side direction of the basic console 1B, in order from the basic console 1B side, the drive console _{1D (1D 11, 1D 12,} ...) and cassette consoles _{1C (1C 11, 1C 12,} ...) alternately to form the console lines L1 underlying the connected drive console 1D (1D ₂₁ toward the front through the junction console 1 J ₁ drive console 1D _11, 1D
_22, ...) and cassette consoles 1C (1C _21, 1
C ₂₂ ,...) Are connected alternately to expand the console row L.
2 is formed, the drive console _{1D (1D 31, 1D 32,} ...) further through the junction console 1 J ₂ toward the front of the cassette console 1C ₁₂ and cassette consoles _{1C (1C 31, 1C 32,} ...) connected alternately An example in which an extended console row L3 is formed is shown. As shown in FIG. 2, when there are a plurality of console rows, the cassette transporter 1 is provided in each console row.
6 are installed. The transfer of the cassette K between the respective console rows is performed via the junction port 18 of the junction console 1J.

The connection relationship between the consoles is not limited to the one shown in FIGS. 1 and 2. For example, even if only the basic console 1B and the drive console 1D are connected, the library system can be used as a library system. The basic functions of can be realized.

In the cassette library 1, the drive console 1D includes a plurality of (for example, four) drive devices 13 as recording / reproducing means for recording and reproducing information on / from the cassette K, and the cassette K having a plurality of storage sections. And a cassette storage shelf 14 as a recording medium storage means capable of storing a plurality of. Drive console 1D
Is provided with a drive control unit 70 for controlling the drive device 13. The cassette console 1C includes a cassette storage shelf 15 as a recording medium storage unit having a plurality of storage units and capable of storing a plurality of cassettes K. In the junction console 1D and the cassette console 1C, when the junction console 1J is connected, the cassette storage shelves 14, 15 are partially removed so that the cassette K can be transferred to and from the junction console 1J. ing.

The basic console 1B has an input / output port 11 for taking in the cassette K into the library from the front and automatically discharging the cassette K in the library to the outside, and a cassette library 1 at the front of the basic console 1B. And a display unit 12 for displaying various information such as control information on the display. The input / output port unit 11 includes an upper port unit 11 provided on the upper stage of the basic console 1B.
a and a lower port portion 11b provided in the lower stage. The upper port portion 11a and the lower port portion 11b for inputting / outputting the cassette K each have a plurality (for example, four) of input / output ports. Display 1
2 is constituted by a liquid crystal display device, for example. The basic console 1B is further connected to the controller main body 21 of the library controller 2 via the transmission path 24 and the basic control unit 60 connected to the controller main body 21 of the library controller 2 via the transmission path 25. A main drive control unit 61 connected to the control unit 70.

The junction console 1J is used to extend the connection between consoles.
It is configured such that one side of itself can be connected to the front or rear surface of another console. Junction console 1J
As shown in FIG. 2, a junction port 18 having a mechanism for transferring the cassette K to and from another connected console is provided on one side of the upper console 11a of the basic console 1B. Is provided at a position corresponding to. An input / output port 17 having the same function as the input / output port 11 of the basic console 1B is provided on the front of the junction console 1J.
B is provided at a position corresponding to the lower port portion 11b. Further, the junction console 1J includes a basic control unit 8 for controlling a mechanism for transferring the cassette K at the junction port unit 18 and controlling the cassette transporter 16 and the like in an extended console row.
0 is provided. The basic control unit 80 controls the basic console 1
B is electrically connected to the basic control unit 60. In addition,
Other basic configurations of the junction console 1J are the same as those of the basic console 1B.

As shown in FIG. 2, a transport area 103, which is a space for the cassette transporter 16 to move, is provided at a central portion inside the basic console 1B, the drive console 1D, the cassette console 1C, and the junction console 1J. Is provided. In the transfer area 103, a pair of guide rails 101 serving as a transfer path when the cassette transfer device 16 moves is provided in a vertical direction along the transfer direction of the cassette transfer device 16. Further, on the side of the lower guide rail 101, an energizing rail 102 for supplying electric power to the cassette transporter 16 is provided.

The cassette transporter 16 has a transport area 103
In this case, power can be supplied from the power supply rail 102 and the cassette K can be moved in the horizontal direction while holding the cassette K along the guide rail 101, and the cassette transport body 4 has a vertical movement mechanism described later. Thereby, the cassette K can be moved in the vertical direction (up and down direction) while holding the cassette K in each console. Although not shown, the cassette transporter 16 has a mechanism for transferring the cassette K to each console. For example, the cassette transporter 16 receives the cassette K taken in from the input / output port 11 of the basic console 1B. It is possible to perform an operation of transporting and transferring to the cassette storage shelf 15 of the cassette console 1C. Further, the cassette transporter 16 has a barcode reader (not shown) for reading barcode information indicating an ID (identification information) given to the loaded cassette K.

FIG. 3 is an overall perspective view of the cassette transporter 16,
4 is a sectional view taken along line AA of FIG. 3, and FIG. 5 is a sectional view taken along line BB of FIG. 3 to 5, each console 1B to
The rack 19 is fixed to each of a pair of upper and lower guide rails 101 fixed to 1J. The pair of racks 19 extend in the same direction as the pair of guide rails 101.

The horizontal moving body 30 includes a lower supporting portion 30a,
Upper support portion 30b and vertical rod portion 3 connecting them
0c. Lower support 30a and upper support 30b
Are provided with guide rollers 33 which are in pressure contact with three surfaces of a pair of guide rails 101, respectively.
Numeral 0 is slidably provided when these guide rollers 33 roll on the guide rail 101 surface.

A horizontal movement motor 34 as a driving source is fixed to the vertical rod portion 30c, and a pulley 35 is fixed to a rotating shaft of the horizontal motor 34. One end of a timing belt 36 is hung on the pulley 35,
The other end of the timing belt 36 is hung on a large-diameter pulley 37. The shaft 38 of the large-diameter pulley 37 is rotatably supported by the vertical rod portion 30c, and its distal end reaches the upper and lower ends of the vertical rod 30c. Gears 39 are fixed to the upper and lower ends of the shaft 38.
Are meshed with a pair of left and right gears 40, respectively. or,
A pinion 41 is integrally fixed to the pair of left and right gears 40, and a pair of upper and lower pinions 41 is a pair of upper and lower racks 1.
9 meshes with each other. Gear 40 and pinion 4
One rotation shaft is supported by the upper support portion 30b.

Further, a guide rail 42 extending in the vertical direction is fixed to the vertical rod portion 30c.
2, a slider 43 of the cassette carrier 4 is slidably provided. A vertical movement motor 44 is fixed to the upper support 30b, and a pulley 45 is fixed to the rotation shaft of the vertical motor 44. One end of a timing belt 46 is hung on the pulley 45 and the timing belt 4
The other end of 6 is hung on a large-diameter pulley 47 supported by the upper support 30b. A timing belt 50 is hung between a pulley 48 fixed coaxially with the large-diameter pulley 47 and a pulley 49 supported by the lower supporting portion 30a. 43 is fixed.

In the cassette transporter 16 having the above structure,
When the horizontal movement motor 34 is driven, the driving force
When the pair of left and right pinions 41 at the upper and lower positions rotate in the same direction, the horizontal moving body 30 moves horizontally. That is, the horizontal moving body 30 moves horizontally while maintaining the vertical phase by the pinions 41 at the upper and lower positions rotating at the same timing meshing with the pair of upper and lower racks 3. When the motor 44 for vertical movement is driven, the timing belt 50 is moved by this driving force, and
Moves vertically. That is, the cassette transport body 4 can be moved to any position in the transport area 103 by the horizontal movement and the vertical movement.

FIG. 6 is a plan view of a main part in the vicinity of the energizing rail 102 and the sliding contact 5, and FIG. 7 is a cross-sectional view taken along the line CC of FIG. 6, showing the energizing rail fixed to each console 1B to 1J. 102 is a guide rail 1 near the guide rail 101.
01 and the same direction. Energizing rail 102
Are provided with three upper and lower energizing terminals 55 in the longitudinal direction. Each energizing terminal 55 is connected to the power source and the ground of the cassette library 1 via a cable (not shown). On the other hand, three first bases 56 are fixed to the lower support 30 a of the horizontal moving body 30, and each second base 57 is attached to each first base 56 via a pair of parallel links 58. A spring 59 is interposed between the pair of parallel link portions 58.

The sliding contacts 5 are rotatably supported on the respective second base portions 57, and each sliding contact 5 is pressed against each energizing terminal 55 of the energizing rail 102 by the spring force of each spring 59. . Each sliding contact 5 is connected via a cable to a main control unit 6 described later fixed to the horizontal moving body 30.
When the horizontal moving body 30 moves horizontally along the pair of guide rails 101, each sliding contact 5 is turned on by the energizing rail 102.
Power is always supplied to the horizontal moving body 30 to slide on the upper side.

8 and 9 are schematic perspective views of the cassette carrier 4, and FIGS. 10 to 12 are a front view, a plan view, and a right side view of a rotating mechanism of the cassette carrier 4. 8 to 12
, The base pedestal 7 is fixed to the slider 43 slidably provided on the guide rail 42, and the vertical rotation motor 62 is fixed to one surface of the base pedestal 7,
The first reduction drum 63 is fixed to the other surface. The first reduction drum 63 is of a harmonic gear type, and reduces the rotation of the fixed portion 63a fixed to the base 7, the rotation input portion 63b to which the rotation of the vertical rotation motor 62 is input, and the rotation of the rotation input portion 63b. The deceleration output section 63c includes a vertical rotation arm member 6
4 is fixed. The deceleration output portion 63c of the deceleration drum 63 has a 90-degree circumferential notch 63d formed therein, and the rotation stopper 63e of the fixed portion 63a is disposed in the 90-degree circumferential notch 63d. That is, the vertical rotation arm member 6
The cassette holder 67 is displaced between the horizontal position shown by the two-dot chain line and the vertical position shown by the solid line in FIGS. 8 and 9 by the vertical rotation of the cassette holder 4 within the range of 90 degrees.

At the end of the vertical rotation arm member 64, an orthogonal plate portion 64a orthogonal to the base pedestal 7 is provided, and on one surface of the orthogonal plate portion 64a, a horizontal rotation motor 6 is provided.
5 is fixed, and a second deceleration drum 66 is fixed to the other surface. The second reduction drum 66 is the first reduction drum 63
And has a configuration similar to that of the first embodiment.
b, and a deceleration output unit 66c.
Is fixed to a cassette holder 67. The deceleration output portion 66c of the second deceleration drum 66 has a 180-degree circular notch 6
6d are formed, and a rotation stopper 66e of the fixed portion 66a is arranged in the 180-degree circumferential notch 66d. The cassette holder 67 is rotated orthogonally with respect to the vertical rotation in the range of 180 degrees so that the cassette holder 67 is positioned at the forward position in FIG.
To the rearward position.

That is, the cassette holder 67 has a vertical position shown by a solid line and a horizontal position shown by a two-dot chain line in a forward position shown in FIG. 8, and a vertical position shown by a solid line in a rear position shown in FIG. It can be displaced to four horizontal positions shown by two-dot chain lines. Therefore, the directions of the cassette insertion ports and the like of the input / output port portions 11 and 17, the drive device 13, and the cassette storage shelves 14 and 15 can be freely set. The center of rotation C ₀ of the horizontal rotation of the cassette holder 67 at the horizontal position indicated by the two-dot chain line is set to be the center in the width direction of the transfer area 103. Can be minimized.
8 and 9, a hand unit 93 having a pair of hand pieces 97 and a pair of cassette guides 111 are provided on the cassette holding body 67, and the pair of hand pieces 97 and the pair of cassette guides 111 The cassette K is gripped during the transfer.

FIG. 13 is a block diagram showing a circuit configuration of the library controller 2. The library controller 2 includes a screen control unit 121 for controlling the display device 23, an input control unit 122 for controlling the input device 22, and the host computer 3 in accordance with the SCSI standard via the transmission line 31. A SCSI control unit 123 that performs control for connecting to the library controller 2;
A network control unit 124 is provided for performing control for connecting the communication network 32 and the library controller 2. Each block element in the controller main body 21 is connected to each other by an internal bus 120.

The library controller 2 includes, for example, a serial line controller 125 for controlling the connection between the cassette library 1 and the library controller 2 via the transmission lines 24 and 25 of the RS232C standard, and a CP.
A central processing control unit 126 configured to include a U (central processing unit) and the like and performs overall control of the library controller 2 and substantial control of the cassette library 1, and performs basic operations of the library controller 2 itself. Read-only memory 127 storing basic programs and the like necessary for
And a temporary storage memory 1 serving as a work area used when the central processing control unit 126 executes a program, for example.
28, a hard disk drive 129 for driving an internal hard disk for storing various information such as a database relating to system information of the library system, and a floppy disk (referred to as FD in the figure) drive 130 for recording and reproducing information on the floppy disk. Have. A program for controlling the cassette library 1 is stored in a hard disk driven by the hard disk drive 129, and the central processing control unit 12
6 realizes a function of controlling the cassette library 1 by executing this program.

FIG. 14 is a block diagram showing a main part of a functional configuration of the library controller 2. The library controller 2 includes an input device 22, a display device 23, and a control function unit 135 having functions for controlling the cassette library 1. The control function unit 135 functions to perform overall control of the library controller 2 and substantial control of the cassette library 1, and is connected to the main control unit 131 to control the display device 23. A screen control unit 132 that functions as
An input control unit 133 is connected to the main control unit 131 and functions to control the input device 22 and has a storage unit 134 that functions to store various information such as a database relating to system information of the library system. ing.

FIG. 15 is a block diagram showing a circuit configuration of the basic console 1B. The basic console 1B is connected to the controller main body 21 of the library controller 2 by a transmission path 24, and a basic control unit 60 for controlling the basic console 1B itself and controlling the transport of the cassette transporter 16; While being connected to the controller main body 21 of the controller 2, it is connected to the drive control unit 70 of the drive console 1D,
A main drive control unit 61 for causing the drive control unit 70 to control the drive device 13 is provided.
The main drive control unit 61 is realized by, for example, a microcomputer.

The basic control unit 60 is a communication line between the console control unit 73 for controlling each component block in the basic control unit 60 and the transfer control of the cassette transfer unit 16 and the extended console rows L2 and L3. A console line communication unit 74 for performing communication via the communication line 72; a console configuration collection unit 75 for collecting information on the configuration of each console constituting the basic console line L1 including the basic console 1B; A display control unit 76 for controlling display of a display unit 12 provided on a front surface of the console 1B; and an input / output port unit 1 provided on a front surface of the basic console 1B.
1 has an input / output port control unit 77 for controlling the transfer mechanism of the cassette K and a transfer unit communication unit 78 for performing control communication with the cassette transfer unit 16 using infrared rays 71. Each block element of the basic control unit 60 is connected to each other by an internal bus 79. The console control unit 73 is realized by, for example, a microcomputer.

The console structure collecting unit 75, the console configuration information sending unit 10B configuring the console lines L1 _{underlying, 10D 11, 10C 11, 10C} 12, to collect information concerning the configuration of each console from ... It has become. The console control unit 73 includes information on the console configuration in the basic console row L1 obtained by the console configuration collection unit 75, and information on the console configuration in another console row received via the inter-console row communication unit 74. Are sent to the library controller 2. Console control unit 73
These pieces of information sent from are collected, for example, as system information when the library controller 2 performs a system information creation process.

FIG. 16 shows a junction console 1J.
FIG. 3 is a block diagram illustrating a circuit configuration of j (j = 1, 2).
The junction console 1Jj is controlled by the junction console 1Jj itself or a console row Li (i = 2,
In 3), the basic control unit 80 for controlling the transport of the cassette transporter 16 and the drive control unit 70 control the drive device 13 in the console row extended by the junction console 1Jj as necessary. And a main drive control section 81. The main drive control unit 81 includes a drive console 1D
Are used for interfacing with the main drive control unit 61 of the basic console 1B and the drive control units 70 in the plurality of drive consoles 1D.

The basic control unit 80 includes a console control unit 82
A console line communication unit 83, a console configuration collection unit 84, a display control unit 85, and an input / output port control unit 86
And a transporter communication section 87. The console configuration collection unit 84 includes configuration information transmission units 10J, 10Di ₁ , 1 of the consoles constituting the extended console row Li.
0Ci _1, 10Di _2, is adapted to collect information concerning the configuration of each console from .... The basic control unit 80 has a junction port control unit 89 for controlling a mechanism for transferring the cassette K in the junction port unit 18 provided on the side surface of the junction console 1J. Each block element of the basic control unit 80 is connected to each other by an internal bus 88. The basic control unit 8 excluding the junction port control unit 89
0 is basically a basic console 1B
Has the same function as each block element of the basic control unit 60.

It should be noted that the console control unit 82 receives information about the configuration from the console configuration information transmission unit in another console row (the console row L1 in the example of FIG. 2) to which the junction console 1Ji is connected. It comes to come. For example, in the case of a junction console 1 J _1, from the configuration information sending unit 10D ₁₁ drive console 1D ₁₁ in FIG. 15, information 90 about the configuration, the console control unit in FIG. 16 82
To be sent to This makes it possible to recognize the connection relationship between the console rows.

In the present embodiment, the basic console 1B, the drive console 1D, the cassette console 1C and the junction console 1J constituting the cassette library 1 correspond to the equipment in the present invention.
The cassette library 1 except for the cassette transporter 16 corresponds to the device assembly in the present invention.

Next, the operation of the library system having the above configuration will be described. First, the overall operation of the library system will be described. When the library controller 2 is started, a GUI (Grafical User Interface) is displayed on the display device 23 of the library controller 2.
rface) The main screen for controlling by the environment is displayed. The user performs various settings for controlling the library system by performing operations using a mouse or the like on the displayed main screen for control.

The library controller 2 responds to a request from the host computer 3 and
For the basic console 1B, the desired cassette K is
A command for moving the input / output port unit 11 of the basic console 1B, the cassette storage shelf 15 of the cassette console 1C, the drive device 13 of the drive console 1D, and the like using the cassette transporter 16 and the drive console 1D. A command for causing the drive device 13 to record or reproduce information is transmitted. A command for moving the cassette K using the cassette transporter 16 is transmitted via the transmission line 24 to the basic control unit 60 of the basic console 1B.
Sent to. Further, in the drive device 13, a command for recording or reproducing information is transmitted to the main drive control unit 61 of the basic console 1 </ b> B via the transmission line 25.

The basic control unit 60 controls the cassette transporter 16 based on a command received from the library controller 2 via the transmission path 24. The control from the basic control unit 60 to the cassette transporter 16 is performed by infrared communication via the transporter communication unit 78. Cassette transfer machine 1
6 is a transport operation for transporting the cassette K taken in from the input / output port unit 11 of the basic console 1B to the cassette storage shelf 15 of the cassette console 1C based on the control from the basic control unit 60, for example. I do.
In the console row extended by the junction console 1J, the basic control unit 80 of the junction console 1J receives a command from the library controller 2 from the basic control unit 60 of the basic console 1B, and transfers the cassette in the extended console row. The machine 16 is controlled in the same manner as the basic control unit 60.

The main drive control unit 61 receives a command from the library controller 2 received via the transmission path 25 and sends a command to the drive control unit 70 of the drive console 1D.
, And controls the drive device 13 to record and reproduce information. The drive control unit 70
Under the control of the main drive control section 61, the drive device 13 is caused to record and reproduce information.

Next, the control of the cassette transporter 16 will be described in more detail. FIG. 17 is a perspective view showing a control portion of the cassette transporter 16 of the library system. The basic control section 60 is constituted by a CPU-225 board, an IF-580 board and the like. The control unit 6 of the cassette transporter 16 is fixed to the horizontal moving body 30, and is composed of an SV-180 substrate or the like. The transporter communication unit 8 on the cassette transporter 16 side is connected to the control unit 6 by a cable, and is fixed to the horizontal moving body 30. Carrier communication unit 8
Performs infrared communication with the carrier communication unit 78 of the basic control unit 60. The control command from the library controller 2 is transmitted to the basic control unit 60 of the basic console 1B via the transmission path 24, and is transmitted from the transport unit communication unit 78 to the transport unit communication unit 8 of the cassette transport unit 16 by infrared communication. , Control unit 6
Conveyed to. The control unit 6 understands the contents of the control and proceeds to the actual operation. When controlling the cassette transporter 16 in the extended console row, the basic control unit 80 of the junction console 1J receives a command from the basic control unit 60 of the board console 1B, and sends a cassette The data is transmitted to the transporter communication unit 8 on the transporter 16 side.

FIG. 18 is a block diagram showing the transfer of the transfer control command of the cassette transfer device 16. The control command from the library controller 2 is transmitted from the basic control portion 60 of the basic console 1B by infrared communication to the cassette transfer device. 16 is transmitted to the control unit 6, and the carrier control unit 26,
The information is transmitted to the bar code control unit 27 and the motor control unit 28. The carrier control unit 26 is composed of, for example, an EC-50 board, and controls the cassette delivery mechanism, that is, controls the movement of the hand unit 93 in FIGS. 8 and 9 and the operation control of the hand piece 97 and the cassette guide 111. The barcode control unit 27 is composed of, for example, an RD-24 board, and controls a barcode reader provided on the cassette transporter 16 to read the barcode information of the cassette K taken in. The motor control unit 28 includes, for example, a DA-124 board, and holds a horizontal movement motor 34 for horizontally moving the horizontal movement body 30, a vertical movement motor 44 for vertically moving the cassette transport body 4, and a cassette K. Vertical rotation motor 6 for vertically rotating cassette holder 67
2, and a horizontal rotation motor 65 for horizontally rotating the cassette holder 67 is controlled.

FIG. 19 shows each motor 34, 44, 62, 65.
FIG. 2 is a block diagram of a motor control mechanism for controlling the motor speed. A control unit 6 includes a motor speed control unit 140, an encoder pulse counter 141, a brake control unit 142, a CPU 143,
It comprises a ROM 144, a RAM 145, an EEPROM 146, and an internal bus 147 connecting these. Each of the motors 34, 44, 62, 65 is constituted by an AC servomotor, of which the motors 44, 62, 65 are provided with a brake. The motor drive unit 9 directly controls each of the motors 34, 44, 62, 65. The motor control unit 28 has a 12-bit D / A converter 28a. The brake state detection unit 20 includes the motors 44, 62,
It is detected whether the brake state at 65 is a set state or a released state.

The 12-bit digital speed command value output from the motor speed control unit 140 of the control unit 6 is converted by a D / A converter 28a of the motor control unit 28 into an analog voltage of -10V to + 10V proportional to the speed command value. It is converted into a command value and transmitted to the motor drive unit 9. The motor drive unit 9 converts the analog voltage command value from -3000 rpm to +3
The speed is converted into a speed of 000 rpm, and the speed of each of the motors 34, 44, 62, 65 is controlled by current control according to the speed value. An encoder pulse corresponding to the number of rotations is fed back from each of the motors 34, 44, 62, 65 to the encoder pulse counter 141 of the control unit 6 via the motor driving unit 9, and the motors 34, 44, 62, 65 are fed back at a feedback speed. Controlled. The brake state is given from each of the motors 44, 62, 65 to the brake control unit 142 of the control unit 6 via the brake state detection unit 20, and the brake control unit 142 controls the brakes of the motors 44, 62, 65. I do.

Therefore, when a transport instruction of the cassette K is issued from the upper level, that is, the library controller 2, a motor current flows through the motors 34, 44, 62, 65 for the first time (servo-on). 65 is controlled to brake off, and each of the motors 44, 62, 65 starts rotating. At the end of the command, each motor 44, 62,
65 and the motors 34, 4
4, 62 and 65 are turned off and the motors 34 and 4 are turned off.
The supply of current to 4, 62, 65 is stopped (servo-off). As described above, since current is supplied to each of the motors 34, 44, 62, and 65 only during operation, power consumption can be reduced. The motors 34, 44, 62,
The control of 65 is performed individually.

As described above, most of the commands sent from the library controller 2 to the cassette transporter 16 transport the cassette K between the input / output port unit 11, the drive unit 13, and the cassette storage shelves 14, 15. It is an instruction to do. These parts are attached to the frames of the consoles 1B to 1D. On the other hand, the cassette transporter 16 is configured to run on guide rails 101 attached above and below the frame, and is independent of the frame. Each of the above-mentioned parts has a design reference position (coordinate), and the cassette transporter 16 accesses the cassette K at that position. It needs to be considered. (1) The error that the cassette transporter 16 has independently (2) The error that occurs between the cassette transporter 16 and the frame of each console 1B to 1D (3) The error that the frame of each console 1B to 1D has alone The error components have different values depending on the consoles 1B to 1D or the cassette transporter 16, respectively.
At the time of installation (Install), it is necessary to perform full initial (Full Initial) in consideration of the error component. That is, an initial operation is first performed before the full initial operation, and in the initial operation, the X axis, the Y axis, the V axis,
Find the origin of the H axis. The cassette transporter 16 is provided with a plurality of home sensors having a photo interrupter including a light emitting unit and a light receiving unit on the X axis, the Y axis, and the like, and also has a pulse counter. The origin of each axis is searched for by the provided correction plate (reflection plate), and thereafter, in the full initial operation, the home sensor and the pulse counter (the distance is calculated by the number of optical pulses from the light receiving unit) and each console 1.
The coordinates and the correction value of the representative square window are obtained by the correction plate (reflector) of the representative square window provided in the frames B to 1D and the correction plate (reflector) provided in the fixed portion such as the frame.
For this reason, each correction value is measured by the full initial operation. Seven elements are mainly listed, and each correction element, the sequence of the firmware, the design value, and the like in measuring the correction value. Is described below. 1. Elements of Correction Value 1.1 Correction of Eye of Carrier (Cassette Delivery Mechanism of Cassette Conveyor 16) As error components of the two square window sensor mounting positions of the carrier, (Sensor LeftX), (Sensor LeftY), (Sensor
RightX) and (Sensor RightY). X is the horizontal coordinate, and Y is the vertical coordinate. 1.2 Barcode lead position correction A barcode lead (barcode reader) is attached to the carrier.
There are two elements, (Bercode ReadX) and (Bercode ReadY). 1.3 Vadj Correction An (Origin V) element is an error component between the vertical axis of the V axis (the rotation axis of the horizontal rotation of the cassette holder 67) and the vertical axis of each of the consoles 1B to 1D. 1.4 Hadj Correction There is an element of (Origin H) as an error component between the horizontal axis of the H axis (the rotation axis of the vertical rotation of the cassette holder 67) and the horizontal axis of each of the consoles 1B to 1D. Only this correction value is measured by a mechanical jig at the time of overall adjustment. 1.5 Xadj Correction The cassette transport 16
Error component between the access position on the console and the position (design value) in the frame of each of the consoles 1B to 1D. (Origin HF X), (Origin VF X), (Origin VR)
X). F indicates the front side and R indicates the rear side. 1.6 Yadj Correction The cassette transporter 1
6 is a correction of an error component between the access position in Step 6 and the positions (design values) in the frames of the consoles 1B to 1D, and the error components are (Origin HF X), (Origin VF X), (Or
igin VR X). 1.7 Shutter upper correction The tilt component of the cassette transporter 16 is corrected with respect to the vertical axis of each of the consoles 1B to 1D. The element as the error component is only (Shutter Upper). 2. Acquisition sequence and calculation method of each correction value 2.1 (Shutter upper) In explaining the sequence of acquiring the correction value of the console distortion correction value (Shutter Upper), each variable is determined as follows.

EsqX3 (n): X3 sensor change position of the nth console (origin coordinates) EsqX4 (n): X4 sensor change position of the nth console Console Distance X (n): nth and (n-1) th console Search Point Offset X: Offset amount for sensor search (= 10mm) Shutter Upper (n): Distortion amount of nth console n: Variable of console number, n = 0 corresponds to basic console 1B I do. 2.1.1 Move the cassette transporter 16 to the read start position of the X3 home sensor of the nth console X3 Start Point X (n) which is the read start position can be expressed by the following equation.

X3 Start Point X (n) = Esq X3 (n-1) + C
onsole Distance X (n) In the above equation, when n = 0, Esq X3 (-1) = 0 (mm) Console Distance X
(0) = 0 (mm) n = 1 When Console Distance X (1) = 735.7 (mm) n ≧ 2 Console Distance X (n) = 895.4 (mm) 2.1.2 Read X3 home sensor Cassette transport The machine 16 is moved to the X3 End Point X (n) (20 mm, search in the positive direction of the X axis). By this operation, the origin coordinate Esq X3 of the nth console
(n) is obtained. X3 End Point X (n) can be represented by the following equation.

X3 End Point X (n) = Esq X3 (n-1) + Cons
ole Distance X (n) + Search Point OffsetX 2.1.3 Move the cassette transporter 16 to the read start position of the X4 home sensor of the nth console. The read start position X4 Start point X (n) is as follows. It can be expressed by the following equation.

X4 Start Point X (n) = Esq X3 (n) + Sea
rch point OffsetX 2.1.4 Read X4 home sensor Move the cassette transporter 16 to X4 End point X (n). By this operation, Esq X4 (n) is obtained. X4 En
d pointX (n) is represented by the following equation.

If the X4 home sensor is closed (blocks the light from the light emitting section), X4 End Point X (n) = X4 Start Point X (n) + Search Point
OffsetX If the X4 home sensor is open (transmits light from the light emitting unit), X4 End Point X (n) = X4 Start Point X (n) -Search Point
OffsetX 2.1.5 Calculate Shutter Upper (n).

By the above sequence, EsqX3 (n) and
Since the coordinates of EsqX4 (n) have been determined, the Sutt
er Upper (n) is calculated. Shutter Upper (n) can be represented by the following equation.

When n = 0 Shutter Upper (n) = Esq X4 (n) -Esq X3 (n) When n ≧ 1 Shutter Upper (n) = Esq X4 (n) -Esq X3 (n) -S
utter Upper (0) 2.2 (Sensor Left X) (Sensor Left Y) (Sensor Righ
t X) (Sensor Right Y) Carrier eye correction value (Sensor Left X) (Sensor Left Y) (Sensor Right X) (Sen
In describing the sequence of obtaining the correction value for sor Right Y), each variable is defined as follows.

Origin H: Hadj correction value Offset Y: Y-axis offset value at search = 14.0 (mm) L Y1: Designed ideal distance from search start point to change point from sensor ON to OFF (= 10.0 mm) L Y2: Designed value ideal distance (= 8.0 mm) between sensor change point ON to OFF and OFF to ON 2.2.1 Move cassette transporter 16 to the start position of correction plate search for carrier eyes Carrier eyes Search start position of correction plate search
If Point (x, y, h, v), it can be expressed by the following equation.

Search Start Point (x) = Design Window Point (x) Search Start Point (y) = Design Window Point (y) + Offs
et Y Search Start Point (h) = Design Window Point (h) + Orig
in H Search Start Point (v) = Design Window Point (v) Here, Design Window Point (x, y, h, v) indicates a correction plate square window coordinate design value. The coordinate values of the square window are as follows.

Design Window Point (x, y, h, v) = (20.5 (m
m), -677.0 (mm), 0.0 (degree), 0.0 (degree)) 2.2.2 Correction plate search Move the cassette transporter 16 to the Search End Point (x, y, h, v) position. This movement scans the square window to find the reflection point of the correction plate. The scan amount is 28 mm upward in the Y axis.

Search End Point (x) = Design Window Point (x) Search End Point (y) = Design Window Point (y) −Offset
Y Search End Point (h) = Design Window Point (h) + Origin
H Search End Point (v) = Design Window Point (v) 2.2.3 Acquisition of Reflection Point and Sensor Change Point Actuate Reflect Point L1 / L2
Get (x, y) and Actural ReflectPointR1 / R2 (x, y).

Actual Reflect Point L1 (x, y) changes from ON to O
It was measured by the real position LEFTSensor changed to FF.

Actual Reflect Point R1 (x, y) changes from ON to O
The actual position RIFFTSensor changed to FF was measured.

Actual Reflect Point L2 (x, y) starts from OFF.
It was measured by the actual position LEFTSensor which changed to ON.

Actual Reflect Point R2 (x, y) starts from OFF.
It was measured by the actual position RIGHTSensor which changed to ON. 2.2.4 Calculation of correction values The actual reflection coordinate values obtained in the above-described sequence and
A correction value is calculated by comparing the design values of the coordinates to be reflected.

Design Reflect Point responding to correction plate
1/2 (x, y) is defined as follows.

Design Reflect Point1 (x, y) = (20.5 (m
m), -673.0 (mm)): Design value of the position that changes from ON to OFF Design Reflect Point 2 (x, y) = (20.5 (mm), -681.0 (m)
m)): Design value of the position that changes from OFF to ON Using the coordinates in the above formula, each correction value is derived as follows.

(Sensor Left X) = ((Actual Reflect Point
L1 (y) -Actual Reflect Point L2 (y))-L Y2) / 2 (Sensor Left Y) = Search Start Point (y) -Actual Refle
ct PointL1 (y))-L Y1 + (Sensor Left X) (Sensor Right X) = (L Y2- (Actual Reflect PointR1 (y)-
Actual Reflect PointR2 (y)) / 2 (Sensor Right Y) = Search Start Point (y) -Actual Refl
ect PointR1 (y) -L Y1- (Sensor Right X) 2.3 Acquisition of correction value of (Barcode Read Y) In describing the sequence of acquiring the correction value of (Rarcode Read Y), each variable is defined as follows.

Read Step Y: Bar code read interval (= 1.0 (mm)) Y Offset: Offset when reading Y coordinate Origin H: Hadj correction value 2.3.1 Move to bar code read position Cassette cassette 16 first Is moved to the position where the bar code read is started. This position is 8 mm above the center position of the barcode lead correction plate (Search Point (x, y, h, v)
(Position (8)). Here, if the position at the time of the n-th barcode search is set as Search Point (x, y, h, v) (n), Search Point (x) (n) = Search Center Point (x) Search Point (y) (n) = Search Center Point (y) + Y Offset
+ Read StepY * n Search Point (h) (n) = Search Center Point (h) + ORIGIN H Search Point (v) (n) = Search Center Point (v) Here, Search Center Point (x, y, h, v) indicates the center position (design value) of the barcode lead correction plate and has the following values.

Search Center Point (x, y, h, v) = (20.5
(mm),-677.0 (mm), 0.0 (degree), 0.0 (degree)) 2.3.2 Barcode read Change the value from n = 8 to n = -8, read the barcode and read The success / failure of the result is stored. 2.3.3 Detection of Correction Value Assuming that the position where the bar code read succeeded first is n = a and the position where the bar code read succeeded last is n = b, the bar code read correction value is derived as follows.

(Barcode Read Y) = (a + b) / 2 * Read Step Y 2.4 (ORIGIN V) Correction Value In explaining the sequence of obtaining the correction value of (ORIGIN V), each variable is determined as follows. .

Origin H: Hadj correction value Scan Offset X: Sensor scan offset amount by X-axis movement (= 4
0.0mm) Scan Offset Y: Sensor scan offset by Y-axis movement (= 1
4.0mm) Sensor distance: Distance between two V-grooves of V-axis correction plate (= 290.
2.4.1 Movement to sensor search start position The cassette transporter 16 is moved to the search start point 1 of the Vadj correction plate. This search start point 1 is defined as follows.

Seaech Start Point1 (x) =-20.5mm Seaech Start Point1 (y) =-677.0mm + Scan Offset Y Seaech Start Point1 (h) =-0.0mm + ORIGIN H Seaech Start Point1 (y) = 0.0mm2 4.4.2 First search for sensor Moves only the X-axis and searches after correction. 4 scans
At 0 mm, only RIGHT sensors are used. The end coordinates of the search are as follows.

Seaech End Point1 (x) = Seaech Start Point1 (x) + Scan
Offset X Seaech End Point1 (y) = Seaech Start Point1 (y) Seaech End Point1 (h) = Seaech Start Point1 (h) Seaech End Point1 (v) = Seaech Start Point1 (v) Is defined as follows.

Response Point11 (x) Coordinates of X-axis in response to change from ON to OFF Response Point12 (x) Coordinates of X-axis in response to change from OFF to ON It is defined as follows.

L1 = Response Point12 (x) -Response Point1
1 (x) 2.4.3 Move to second sensor search start position Move to search start point 2 after Vadj correction. Since the correction plate is read by the same sensor (RIGHTSENSOR), the position where the X-axis is moved by the interval of the V-groove is the second search start position.

Seaech Start Point2 (x) =-20.5mm + Sensor distance X Seaech Start Point2 (y) =-677.0mm + Scan Offset Y Seaech Start Point2 (h) =-0.0mm + ORIGIN H Seaech Start Point2 (y) = 0.0mm 2.4.4 Second search of sensor Move only the X-axis and search after correction. 4 scans
Move in the plus direction by 0 mm, and the end coordinates of the search are as follows.

Seaech End Point2 (x) = Seaech Start Point2 (x) + Scan
Offset X Seaech End Point2 (y) = Seaech Start Point2 (y) Seaech End Point2 (h) = Seaech Start Point2 (h) Seaech End Point2 (v) = Seaech Start Point2 (v) Is defined as follows.

Response Point 21 (x): X-axis coordinate in response to change from ON to OFF Response Point 22 (x): X-axis coordinate in response to change from OFF to ON It is defined as follows.

L2 = Response Point22 (x) −Response Point21 (x) 2.4.5 Based on L1 and L2, ORIGIN V (Vadj correction value) is derived as follows.

(ORIGIN V) = arctan (((L2-L1) / 2) / Sensor DistanceX) 2.5 (ORIGIN HF X) (ORIGIN H) of the basic console 1B
FY) The sequence for acquiring the correction value (ORIGIN HF X) (ORIGIN HF Y) is explained. 2.5.1 Movement to horizontal front correction plate Search Basic Point (x, y, h, v) = (20.5 (mm), -632.0 (m
m), 0.0 (degree), 0.0 (degree)), the correction plate search start point is as follows.

Search Start Point (x) = Search Basic Point (x) Search Start Point (y) = Search Basic Point (y) Search Start Point (h) = Search Basic Point (h) + ORIGI
NH Search Start Point (v) = Search Basic Point (v) + ORIGI
NV 2.5.2 Search for correction plate (a) From Search Start Point, 25 (mm) Sca upward in the Y-axis
n works.

(B) From the Search Start Point, a 25-mm scan operation is performed downward in the Y-axis.

(C) From the Search Start Point, 25 (mm) Scan operation is performed in the X-axis direction.

(D) From the Search Start Point, a 25 (mm) Scan operation is performed in the + direction of the X axis. 2.5.3 Securing reflection reaction position RIGHT / LEFT Sensor by scanning operations (a) to (d)
The coordinates that responded to the change from OFF to ON are as follows.

R Sensor YUP (y) L Sensor YUP (y) R Sensor YDM (y) L Sensor YDM (y) R Sensor XMI (x) L Sensor XMI (x) R Sensor XPU (x) L Sensor XPU (x) 2.5.4 Calculation of correction value LEFT SENSOR Lln, Lld, Llm, Ll
p, Lrn, Lrd, Lrm, Lrp are defined as follows.

Lln = | Search Start Point (y) -LSensorYUP (y) | Lld = | Search Start Point (y) -LSensorYDM (y) | Llm = | Search Start Point (x) -LSensorYMI (x) | Llp = | Search Start Point (x) -LSensorYPL (x) | Here, the correction value of the displacement of the LEFT Sensor in the Y-axis direction is Lly,
Assuming that the correction value of the displacement in the X-axis direction is Llx, it is calculated as follows.

Lly = (Lln−Lld) / 2 Llx = (Llp−Llm) / 2 Further, the Right sensor is similarly defined as follows.

Lrn = | Search Start Point (y) -RSensorYUP (y) | Lrd = | Search Start Point (y) -RSensorYDX (y) | Lrm = | Search Start Point (x) -RSensorYMI (x) | Lrp = ｜ Search Start Point (x) -RSensorYPL (x) ｜ Lry, X
Assuming that the correction value of the displacement in the axial direction is Lrx, it is calculated as follows.

Lry = (Lrn−Lrd) / 2 Lrx = (Lrp−Lrm) / 2 Here, Xadj and Yadj of the horizontal front are obtained as follows.

(ORIGIN HF X) = (Llx + Lrx) / 2 (ORIGIN HF Y) = (Lly + Lry) / 2 2.6 (ORIGIN VF X) (ORIGIN V) of the basic console 1B
FY) The sequence for obtaining the correction values (ORIGIN VF X) and (ORIGIN VF Y) is the same as the sequence for obtaining (ORIGIN HF X) and (ORIGIN HF Y) described above, except that the initial search start position is different. It is. Therefore, here, the search start position is described. 2.6.1 Move cassette transporter 16 to vertical front correction plate Search Basic Point (x, y, h, v) = (223.5 (mm), -485.5 (m)
m), 0.0 (degree), -90.0 (degree)), the correction plate search start position can be described as follows.

Search Start Point (x) = Search Basic Point (x) Search Start Point (y) = Search Basic Point (y) Search Start Point (h) = Search Basic Point (h) + ORIGI
NH Search Start Point (v) = Search Basic Point (v) + ORIGI
The sequence following NV is the same as the sequence for acquiring the (ORIGIN HF X) (ORIGIN HF Y) correction value, and is therefore omitted. 2.7 (ORIGIN VR X) (ORIGIN V X) on the basic console 1B
(RY) The correction value (ORIGIN VR X) (ORIGIN VR Y) acquisition sequence is the same as the above (ORIGIN HF X) (ORIGIN HF Y) acquisition sequence, and the first search start position is different. Only. Therefore, here, the search start position is described. 2.7.1 Movement to vertical rear correction plate Search Basic Point (x, y, h, v) = (223.5 (mm), -485.5 (m
m), -180.0 (degree), -90.0 (degree)), the correction plate search start position can be described as follows.

Search Start Point (x) = Search Basic Point (x) Search Start Point (y) = Search Basic Point (y) Search Start Point (h) = Search Basic Point (h) + ORIGI
NH Search Start Point (v) = Search Basic Point (v) + ORIGI
The sequence following NV is the same as the sequence for obtaining the (ORIGIN HF X) (ORIGIN HF Y) correction value, and will not be described. 4. 4.1 Acquisition of Representative Window Coordinates 4.1 Acquisition of Representative Window Coordinates of Rear Bin of Basic Console 1B The sequence of acquiring coordinates of the representative window of the basic console 1B is described below. 4.1.1 Moving the cassette transporter 16 to the vertical rear bin representative square window The design value of the representative square window is Search Design Point (x, y, h, v) = (17.5 (mm), -485.5 (m)
m), -180.0 (degree), -90.0 (degree)), the search start position is as follows.

Search Start Point (x) = Search Design
Point (x) + ORIGIN VR X Search Start Point (y) = Search Design Point (y) + O
RIGIN VR Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Thereafter, the sequence for searching for the correction plate starts. The correction plate is provided with a square window, and measures the position error by scanning vertically and horizontally. This method has been described above and will not be described. The obtained position error of the X-axis component and position error of the Y-axis component are defined as follows.

(Basic Rear VR X): Position error of X component (Basic Rear VR Y): Position error of Y component 4.1.2 Calculation of representative angle window and real coordinates of representative angle window of rear bin of basic console 1B Position, Ba
If sic Rear Window (x, y), the error component is calculated, so Basic Rear Window (x) = Search Start Point (x) + (BasicR
ear VR X) Basic Rear Window (y) = Search Start Point (y) + (BasicR
ear VR Y). 4.2 Acquisition of Representative Square Window Coordinate Value of Upper Port Portion 11a of Input / Output Port Portion 11 of Basic Console 1B 4.2.1 Move to Representative Square Window Lead Start Position Connect cassette transporter 16 to input / output port of basic console 1B The part 11 moves to the representative corner window of the upper port part 11a.
This representative square window is shared with the uppermost bin window of the upper port portion 11a, and its design value is Search Design Point (x, y, h, v) = (20.5 (mm), 312.5 (m
m), 0.0 (degree), 0.0 (degree)), the search start position is as follows.

Search Start Point (x) = Search Design P
oint (x) ＋ ORIGIN HF X Search Start Point (y) ＝ Search Design Point (y) ＋ ORI
GIN HF Y + IO ScanOffset Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Here, IO ScanOffset Y = 18.5 mm. 4.2.2 Representative square window search Scans 37 mm downward from above the Y axis. Here, when reading the reflector, the Right / Left Sensor changes from ON to OF.
There are four points that change from F / OFF to ON, and the change points are compared with the design theoretical values, and the final representative square window coordinates Basic UpperI
Determine O Window (x, y). The correction values of the eyes of the carrier are not considered for the coordinates read by the four representative square windows. 4.3 Acquisition of Representative Square Window Coordinate Value of Lower Port Port Portion 11b of Input / Output Port Unit 11 of Basic Console 1B 4.3.1 Move to Representative Square Window Lead Start Position Connect cassette transporter 16 to input / output port of basic console 1B The part 11 is moved to the representative square window of the lower port part 11b.
The design value of this representative square window is Search Design Point (x, y, h, v) = (20.5 (mm), -188.5 (m
m), 0.0 (degree), and 0.0 (degree), the search start position is as follows.

Search Start Point (x) = Search Design P
oint (x) ＋ ORIGIN HF X Search Start Point (y) ＝ Search Design Point (y) ＋ ORI
GIN HF Y + IO ScanOffset Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Here, IO ScanOffset Y = 18.5 mm. 4.3.2 Representative square window search Scans 37 mm downward from the Y axis. Here, when reading the correction plate, the Right / Left Sensor changes from ON to OF.
There are four points that change from F / OFF to ON, and the change points are compared with the design theoretical values, and the final representative square window coordinates Basic Lowe
Determine rIO Window (x, y). The correction values of the eyes of the carrier are not considered for the coordinates read by the four representative square windows. 4.4 Acquisition of Front Bin Representative Square Window Coordinate Value of Drive Console 1D 4.4.1 Move to Representative Square Window Lead Start Position The cassette transporter 16 is moved to the front bin representative square window lead start position of the drive console 1D. When calculating the representative coordinates, the origin coordinates of the drive console 1D
(Esq X3) is already required. The design value of the representative square window of the drive console 1D alone is Search Design Point (x, y, h, v) = (159.5 (mm), -535.5 (m
m), 0.0 (degree), -90.0 (degree)), the search start position is as follows.

Search Start Point (x) = Search Design P
oint (x) + ORIGIN VF X + Exq X3 + Console Origin X + OFFS
ETX Search Start Point (y) = Search Design Point (y) + ORI
GIN VF Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Here, Exq X3: Origin coordinate of drive console 1D Consoie Origin X: Distance between origin and coordinate origin of drive console 1D (= 159.7mm) OFFSET X: Offset value for representative square window lead (= 1
5.0mm). 4.4.2 Search representative square window.

The rectangular window is scanned by moving the cassette transporter 16 from the search start point in the X-axis 30 mm direction. Right / Left sensor is ON when reading the correction plate
There are four points that change from OFF / OFF to ON,
The change point is compared with the design theoretical value, and the final representative square window coordinates D
Determine the rive Front Window (x, y). The correction values of the eyes of the carrier are not considered for the coordinates read by the four representative square windows. 4.5 Obtaining Representative Square Window Coordinate Value of Front Bin of Cassette Console 1C The cassette transporter 16 is moved to the front bin representative square window lead start position of the cassette console 1C. When obtaining these coordinates, the origin coordinates of the cassette console 1C
(Esq X3) is required. The design value of the representative square window of the cassette console 1C alone is Search Design Point (x, y, h, v) = (159.5 (mm), -535.5 (m
m), 0.0 (degree), -90.0 (degree)), the search start position is as follows.

Search Start Point (x) = Search Design P
oint (x) + ORIGIN VF X + Exq X3 + Console Origin X + OFFS
ETX Search Start Point (y) = Search Design Point (y) + ORI
GIN VF Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Here, Exq X3: Origin coordinate of cassette console 1C Consoie Origin X: Distance between origin and coordinate origin of cassette console 1C (= 159.7mm) OFFSET X: Offset value for representative square window lead (= 1
5.0mm). 4.5.1 Search representative square window.

The rectangular window is scanned by moving the cassette transporter 16 in the X-axis 30 mm direction from the search start point. Right / Left sensor is ON when reading the correction plate
There are four points that change from OFF / OFF to ON,
The change point is compared with the design theoretical value, and the final representative window coordinate C
Determine the Assette Front Window (x, y). The correction values of the eyes of the carrier are not considered for the coordinates read by the four representative square windows. 4.6 Acquisition of Representative Bin Window Coordinate Value of Rear Bin of Cassette Console 1C The cassette transporter 16 is moved to the lead start position of the representative bin window of the rear bin of the cassette console 1C. In calculating the representative window coordinates, the origin coordinates (EsqX3) of the console are obtained. The design value of the representative square window of the cassette console 1C alone is Search Design Point (x, y, h, v) = (159.5 (mm), -535.5 (m
m), 180.0 (degree), -90.0 (degree)), the search start position is as follows.

Search Start Point (x) = Search Design P
oint (x) + ORIGIN VR X + Exq X3 + Console Origin X + OFF
SET X Search Start Point (y) ＝ Search Design Point (y) ＋ ORI
GIN VR Y Search Start Point (h) = Search Design Point (h) + O
RIGIN H Search Start Point (v) = Search Design Point (v) + O
RIGIN V Exq X3: Origin coordinate of cassette console 1C Consoie Origin X: Distance between origin and coordinate origin of cassette console 1C (= 159.7mm) OFFSET X: Offset value for representative square window lead (= 1)
5.0mm). 4.6.1 Search representative square window.

The square window is scanned by moving the cassette transporter 16 from the search start point in the direction of 30 mm on the X axis. When reading the reflector, the Right / Left sensor is
There are four points that change from N to OFF / OFF to ON, and the change points are compared with design theoretical values to determine the final representative square window coordinates Cassette Rear Window (x, y). The correction values of the eyes of the carrier are not considered for the coordinates read by the four representative square windows. 5. 5.1 Development of Coordinates 5.1 Determination of Coordinates of Upper Port Portion 11a of Input / Output Port Portion 11 of Basic Console 1B In determining the coordinates of the upper port portion 11a of input / output port portion 11 of Basic Console 1B, variables are defined as follows. I do.

Upper Window Pos (x, y, h, v): Representative square window coordinates of upper port portion 11a ORIGIN H: Hadj value ORIGIN V: Vadj value IOBinHight Y1: One stage of upper port portion 11a in Y-axis direction Bin interval (= 55.0 mm) n: a variable of the number of bins. Since there are four upper port portions 11a, n = 1 to 4.

Using the above variables, the bin coordinates are derived as follows.

IO Bin Pos [n] (x) = Upper Window Pos (x) IO Bin Pos [n] (y) = Upper Window Pos (y) -IO BinHight
Y1 * (n-1) IO Bin Pos [n] (h) = Upper Window Pos (h) + ORIGIN H IO Bin Pos [n] (h) = Upper Window Pos (h) + ORIGIN V 5.2 Basic console Determination of Coordinates of Lower Port Portion 11b of Input / Output Port Unit 11 of 1B In determining the coordinates of lower port portion 11b of input / output port unit 11 of basic console 1B, variables are defined as follows.

Lower Window Pos (x, y, h, v): representative square window coordinates of lower port portion 11b ORIGIN H: Hadj value ORIGIN V: Vadj value IOBinHight Y1: one stage of lower port portion 11b in Y-axis direction Bin interval (= 55.0 mm) n: a variable of the number of bins, and n = 5 to 8 since there are four lower port portions 11b.

Using the above variables, the bin coordinates are derived as follows.

IO Bin Pos [n] (x) = Lower Window Pos (x) IO Bin Pos [n] (y) = Lower Window Pos (y) -IO BinHight
Y1 * (n-5) IO Bin Pos [n] (h) = Lower Window Pos (h) + ORIGIN H IO Bin Pos [n] (h) = Lower Window Pos (h) + ORIGIN V Figure 20 shows the basic console. It is a partially enlarged front view of 1B,
The bin positions of the upper and lower port portions 11a and 11b of the input / output port portion 11 are shown, and the respective uppermost bins also serve as representative square windows. 5.3 Determination of Rear Bin Coordinates of Basic Console 1B In determining the coordinates of the rear bin of the basic console 1B, variables are defined as follows.

Rear Window Position ((x, y, h, v): Rear representative window coordinates ORIGIN H: Hadj value ORIGIN V: Vadj value BinToBin X1: X-axis direction bin-to-bin interval (= 41.0 mm) BinToBin X2: Distance from the representative square window to the square window for bin development reference (= 55.0mm) BinHight Y1: Bin interval of one stage in the Y-axis direction (= 308.0mm) BinHight Y2: H in the Y-axis direction Spacing provided for shaft rotation area (= 128.0mm) BinHight Y3: Distance from representative square window to square window for bin expansion reference (= -480.5mm) n: Variable of the number of bins in a row (1-3) Using the above variables, the bin coordinates are derived as follows.

Rear Bin Pos (5) (n) (x) = Rear Window Pos
(x) + BinToBin X2 + (n-1) * BinTo X Rear Bin Pos (5) (n) (y) = Rear Window Pos (y) + BinHight
Y3 Rear Bin Pos (5) (n) (h) = Rear Window Pos (h) + ORIGIN H Rear Bin Pos (5) (n) (v) = Rear Window Pos (v) + ORIGIN V Rear Bin Pos (4 ) (n) (x) = Rear Bin Pos (5) (n) (x) Rear Bin Pos (4) (n) (y) = Rear Bin Pos (5) (n) (y) + BinHi
ght Y1 Rear Bin Pos (4) (n) (h) = Rear Bin Pos (5) (n) (h) Rear Bin Pos (4) (n) (v) = Rear Bin Pos (5) (n) ( v) Rear Bin Pos (3) (n) (x) = Rear Bin Pos (4) (n) (x) Rear Bin Pos (3) (n) (y) = Rear Bin Pos (4) (n) ( y) + BinHi
ght Y1 Rear Bin Pos (3) (n) (h) = Rear Bin Pos (4) (n) (h) Rear Bin Pos (3) (n) (v) = Rear Bin Pos (4) (n) ( v) Rear Bin Pos (2) (n) (x) = Rear Bin Pos (3) (n) (x) Rear Bin Pos (2) (n) (y) = Rear Bin Pos (3) (n) ( y) + BinHi
ght Y1 + BHight Y2 Rear Bin Pos (2) (n) (h) = Rear Bin Pos (3) (n) (h) Rear Bin Pos (2) (n) (v) = Rear Bin Pos (3) ( n) (v) Rear Bin Pos (1) (n) (x) = Rear Bin Pos (2) (n) (x) Rear Bin Pos (1) (n) (y) = Rear Bin Pos (2) ( n) (y) + BinHi
ght Y1 Rear Bin Pos (1) (n) (h) = Rear Bin Pos (2) (n) (h) Rear Bin Pos (1) (n) (v) = Rear Bin Pos (2) (n) ( v) 5.4 Determining the front pin coordinates of the drive console 1D In determining the coordinates of the front pins of the drive console 1D, variables are defined as follows.

Skew: Console distortion rate = Console distortion / Console height = Shutter upper / 1846.0 mm Front Window Position ((x, y, h, v): Real coordinates of representative bin window of front bin ORIGIN H: Hadj Value ORIGIN V: Vadj value BinToBin X: Interval between bins in the X-axis direction (= 41.0 mm) BinHight Y1: Interval between bins for one stage in the Y-axis direction (308.0 mm) BinHight Y2: Y-axis direction, H-axis The interval provided for the rotation area (= 128.0mm) BinMax: The maximum value of the variable of the number of bins in a row (=
18) n: Variable of the number of bins in a row (1-1
8) Using the above variables, the bin coordinates are derived as follows.

Front Bin Pos (10) (n) (x) = Front Window
Position (x)-(Bin.Max-n) * BinToBin X Front Bin Pos (10) (n) (y) = Front Window Position (y) Front Bin Pos (10) (n) (h) = Front Window Position (h) +
ORIGIN H Front Bin Pos (10) (n) (v) = Front Window Position (v) +
ORIGIN V Front Bin Pos (9) (n) (x) = Front Bin Pos (10) (n) (x) + Sk
ew * BinHight Y1 Front Bin Pos (9) (n) (y) = Front Bin Pos (10) (n) (y) + Bi
nHight Y1 Front Bin Pos (9) (n) (h) = Front Bin Pos (10) (n) (h) Front Bin Pos (9) (n) (v) = Front Bin Pos (10) (n) ( v) Front Bin Pos (8) (n) (x) = Front Bin Pos (9) (n) (x) + Ske
w * BinHight Y1 Front Bin Pos (8) (n) (y) = Front Bin Pos (9) (n) (y) + Bin
Hight Y1 Front Bin Pos (8) (n) (h) = Front Bin Pos (9) (n) (h) Front Bin Pos (8) (n) (v) = Front Bin Pos (9) (n) ( v) Front Bin Pos (7) (n) (x) = Front Bin Pos (8) (n) (x) + Ske
w * (BinHight Y1 + BinHight Y2) Front Bin Pos (7) (n) (y) = Front Bin Pos (8) (n) (y) + Bin
Hight Y1 + BHight Y2 Front Bin Pos (7) (n) (h) = Front Bin Pos (8) (n) (h) Front Bin Pos (7) (n) (v) = Front Bin Pos (8) ( n) (v) Front Bin Pos (6) (n) (x) = Front Bin Pos (7) (n) (x) + Ske
w * BinHight Y1 Front Bin Pos (6) (n) (y) = Front Bin Pos (7) (n) (y) + Bin
Hight Y1 Front Bin Pos (6) (n) (h) = Front Bin Pos (7) (n) (h) Front Bin Pos (6) (n) (v) = Front Bin Pos (7) (n) ( v) FIG. 21 shows an enlarged front view of the drive console 1D,
The position of each front bin is shown. In addition, 52 is a representative square window. 5.5 Determination of Coordinates of Drive Device 13 of Drive Console 1D In determining the coordinates of drive device 13 of drive console 1D, variables are defined as follows.

Drive Basic Pos (x, y, h, y): Design value coordinates of the lowermost port of the drive device 13 = (− 177 mm.−623 mm.−1)
80.0degree.0.0degree) Origin (x): Actual origin coordinate of X-axis console Origin Offset X: Distance from X-axis frame origin to coordinate origin (= 159.7mm) DriveToDrive Y: Distance between drives of Y-axis 1st stage ( Design value)
(= 400.0mm) DriveMax: Maximum number of drives in one row n: Variable of number of drives in one row Skew: Console distortion rate = Console distortion / Console height = Shutter Upper / 1846.0mm OriginHR X: Horizontal rear Xadj value OriginHR Y: Xadj value of horizontal rear ORIGIN H: Hadj value ORIGIN V: Vadj value If it is assumed, drive coordinates are derived by the following formula.

Drive Pos (DriveMax− (n−1)) (x) = Drive
Basic Pos (x) + Origin (x) + OriginOffset X + Origin HR X
+ Skew * Drive ToDriveY * (n-1) Drive Pos (DriveMax− (n-1)) (y) = Drive Basic Pos (y)
+ OriginHR Y + Drive To Drive Y * (n-1) Drive Pos (n) (h) = Drive Basic Pos (h) + Origin H Drive Pos (n) (v) = Drive Basic Pos (v) + Origin V 5.6 Determination of Rear Bin Coordinates of Drive Console 1D In determining the coordinates of the rear bin of the drive console 1D, variables are defined as follows.

Drive Basic Pos (x, y, h, y): Reference position for determining the rear bin coordinates of the drive console 1D = (− 4.5 m
m.-535.5mm.-180.0degree.-90.0degree) Origin (x): Actual coordinate of origin of X-axis console Origin Offset X: Offset from X-axis frame origin to coordinate origin (design value) = 169.7mm Origin VR X : Vertical rear Xadj value Origin VR Y: Vertical rear Yadj ORIGIN H: Hadj value ORIGIN V: Vadj value BinToBin X: Interval between bins in X-axis direction (= 41.0m
m) BinHight Y1: Bin spacing for one stage in the Y-axis direction (= 308.0m
m) BinHight Y2: In the Y-axis direction, the interval provided for the H-axis rotation area (= 128.0 mm) n: The variable of the number of bins in a row (= 1 to 5), the following formula Leads to bin coordinates.

Rear Bin Pos (5) (n) (x) = Drive Basic Pos
(x) + Origin (x) + Origin Offset X + Origin VR X + (n-1) * Bi
n ToBin X Rear Bin Pos (5) (n) (y) = Drive Basic Pos (y) + Origin V
RY Rear Bin Pos (5) (n) (h) = Drive Basic Pos (h) + ORIGIN H Rear Bin Pos (5) (n) (v) = Drive Basic Pos (v) + ORIGIN V Rear Bin Pos (4 ) (n) (x) = Front Bin Pos (5) (n) (x) + Skew
* BinHight Y1 Rear Bin Pos (4) (n) (y) = Front Bin Pos (5) (n) (y) + BinH
ight Y1 Rear Bin Pos (4) (n) (h) = Front Bin Pos (5) (n) (h) Rear Bin Pos (4) (n) (v) = Front Bin Pos (5) (n) ( v) Rear Bin Pos (3) (n) (x) = Front Bin Pos (4) (n) (x) + Skew
* BinHight Y1 Rear Bin Pos (3) (n) (y) = Front Bin Pos (4) (n) (y) + BinH
ight Y1 Rear Bin Pos (3) (n) (h) = Front Bin Pos (4) (n) (h) Rear Bin Pos (3) (n) (v) = Front Bin Pos (4) (n) ( v) Rear Bin Pos (2) (n) (x) = Front Bin Pos (3) (n) (x) + Skew
* (BinHight Y1 + BinHight Y2) Rear Bin Pos (2) (n) (y) = Front Bin Pos (3) (n) (y) + BinH
ight Y1 + BHight Y2 Rear Bin Pos (2) (n) (h) = Front Bin Pos (3) (n) (h) Rear Bin Pos (2) (n) (v) = Front Bin Pos (3) ( n) (v) Rear Bin Pos (1) (n) (x) = Front Bin Pos (2) (n) (x) + Skew
* BinHight Y1 Rear Bin Pos (1) (n) (y) = Front Bin Pos (2) (n) (y) + BinH
ight Y1 Rear Bin Pos (1) (n) (h) = Front Bin Pos (2) (n) (h) Rear Bin Pos (1) (n) (v) = Front Bin Pos (2) (n) ( v) FIG. 22 is an enlarged front view of the drive console 10,
The positions of the drive device 13 and the rear bin are shown. 5.7 Determination of Front Bin Coordinates of Cassette Console 1C A calculation method similar to that of the front bin of the cassette console 1C is used, and a description thereof will be omitted. FIG. 23 is an enlarged front view of the cassette console 1C, and shows the position of each front bin. 29 is a representative square window, 5
Reference numeral 1 denotes a reference angle window. 5.8 Determination of Rear Bin Coordinates of Cassette Console 1C In determining the coordinates of the rear bin of the cassette console 1C, variables are defined as follows.

Skew: Console distortion rate = Console distortion
/ Console height = Shutter Upper / 1846.0mm Rear Window Position (x, y, h, v): Real coordinates of representative square window ORIGIN H: Hadj value ORIGIN V: Vadj value BinToBin X: Between bins in X-axis direction Interval (= 41.0m
m) BinHight Y1: Bin spacing for one stage in the Y-axis direction (= 308.0m
m) BinHight Y2: The space provided for the H-axis rotation area in the Y-axis direction (= 128.0 mm) BinMax: The maximum value of the number of bins in a row
(= 18) n: Variable of the number of bins in a row (1 to 18) If the above variables are used, the bin coordinates are derived as follows.

Rear Bin Pos (5) (n) (x) = Rear Window Pos
ition (x)-(BinMax-n) * BinToBin X Rear Bin Pos (5) (n) (y) = Rear Window Position (y) Rear Bin Pos (5) (n) (h) = Rear Window Position (h ) + ORI
GIN H Rear Bin Pos (5) (n) (v) = Rear Window Position (v) + ORI
GIN Y Rear Bin Pos (4) (n) (x) = Rear Bin Pos (5) (n) (x) + Skew *
BinHight Y1 Rear Bin Pos (4) (n) (y) = Rear Bin Pos (5) (n) (y) + BinHi
ght Y1 Rear Bin Pos (4) (n) (h) = Rear Bin Pos (5) (n) (h) Rear Bin Pos (4) (n) (v) = Rear Bin Pos (5) (n) ( v) Rear Bin Pos (3) (n) (x) = Rear Bin Pos (4) (n) (x) + Skew *
BinHight Y1 Rear Bin Pos (3) (n) (y) = Rear Bin Pos (4) (n) (y) + BinHi
ght Y1 Rear Bin Pos (3) (n) (h) = Rear Bin Pos (4) (n) (h) Rear Bin Pos (3) (n) (v) = Rear Bin Pos (4) (n) ( v) Rear Bin Pos (2) (n) (x) = Rear Bin Pos (3) (n) (x) + Skew *
(BinHight Y1 + BinHight Y2) Rear Bin Pos (2) (n) (y) = Front Bin Pos (3) (n) (y) + BinH
ight Y1 + BinHight Y2 Rear Bin Pos (2) (n) (h) = Front Bin Pos (3) (n) (h) Rear Bin Pos (2) (n) (v) = Front Bin Pos (3) ( n) (v) Rear Bin Pos (1) (n) (x) = Front Bin Pos (2) (n) (x) + Skew
* BinHight Y1 Rear Bin Pos (1) (n) (y) = Front Bin Pos (2) (n) (y) + BinH
ight Y1 Rear Bin Pos (1) (n) (h) = Front Bin Pos (2) (n) (h) Rear Bin Pos (1) (n) (v) = Front Bin Pos (2) (n) ( v) FIG. 24 is an enlarged front view of the cassette console 1C,
The position of each rear bin is shown. Reference numeral 53 denotes a representative square window.

In the above embodiment, the dimensional error of each of the consoles 1B to 1D and the dimensional error between each of the consoles 1B to 1D and the cassette transporter 16 are first determined by moving the cassette transporter 16 for full initial search. Detection, thereby obtaining a correction value. Next, the coordinates of the representative square window provided in each of the consoles 1B to 1D are acquired based on this correction value. Three representative square windows are provided in the basic console 1B, one in the drive console 1D, and two in the cassette console 1C, and all bin coordinates can be derived by calculation from the representative square window coordinates and the correction values. All bins will be accessible. Therefore,
By storing the coordinates of each representative square window and the correction value in an EEPROM or the like, even if the power is once turned off and then turned on again, the coordinates of all bins are stored based on the stored information. Can be developed in a RAM or the like, and the coordinates of all bins can be restored. Therefore, there is no need to store the coordinates of all bins, and the amount of memory used can be reduced.

Note that the present invention is not limited to the above embodiment, and various modifications are possible. For example, the present invention
As a recording medium, the present invention can be applied to a library system using various recording media such as a cassette-shaped recording medium other than a video cassette tape and a disk-shaped recording medium.

[0123]

As described above, according to the information recording / reproducing apparatus of the first or second aspect, or the control method of the information recording / reproducing apparatus of the third or fourth aspect, the transport means is moved by the control means. With this, a dimensional correction value between each device and each device and the transporting means is obtained and stored, and the coordinates of the design reference position of each device are obtained and stored based on the correction value, and this correction is performed. The coordinates of each storage unit that stores the recording medium are calculated from the values and the coordinates of the design reference position. Therefore, if the above-described correction values and the coordinates of the design reference position are stored, it is not necessary to store the coordinates of all the storage units, and the amount of memory can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view showing a basic configuration of a library system according to an embodiment of the present invention.

FIG. 2 is a plan view showing an example of the overall configuration of the library system according to the embodiment.

FIG. 3 is a perspective view of the cassette transporter according to the embodiment.

FIG. 4 is a sectional view taken along line AA of FIG. 3;

FIG. 5 is a sectional view taken along line BB of FIG. 3;

FIG. 6 is a plan view of a main part near an energizing rail and a sliding contact according to the embodiment.

FIG. 7 is a sectional view taken along line CC of FIG. 6;

FIG. 8 is a schematic perspective view of the cassette carrying body according to the embodiment.

FIG. 9 is a schematic perspective view of the cassette carrying body according to the embodiment.

FIG. 10 is a front view of a rotating mechanism of the cassette transport body according to the embodiment.

FIG. 11 is a plan view of a rotating mechanism of the cassette transport body according to the embodiment.

FIG. 12 is a right side view of the cassette transport body according to the embodiment.

FIG. 13 is a block diagram showing a circuit configuration of a library controller according to the embodiment.

FIG. 14 is a block diagram illustrating a functional configuration of a library controller according to the embodiment;

FIG. 15 is a block diagram showing a circuit configuration of a basic console according to this embodiment.

FIG. 16 is a block diagram showing a circuit configuration of a junction console according to the embodiment.

FIG. 17 is a perspective view showing a control portion of the cassette transporter of the library system according to the embodiment.

FIG. 18 is a block diagram illustrating transfer of a transfer control command of the cassette transfer device according to the embodiment.

FIG. 19 is a configuration diagram of a motor control mechanism according to this embodiment.

FIG. 20 is an enlarged front view of an input / output port of the basic console 1B according to this embodiment.

FIG. 21 is a drive console 1D according to this embodiment.
It is an enlarged front view which shows arrangement | positioning of each front bin.

FIG. 22 is a drive console 1D according to this embodiment.
FIG. 2 is an enlarged front view showing the arrangement of the drive device 13 and the rear bin.

FIG. 23 shows a cassette console 1C according to this embodiment.
It is an enlarged front view which shows arrangement | positioning of the front bin.

FIG. 24 shows a cassette console 1C according to this embodiment.
It is an enlarged front view which shows the arrangement | positioning of the rear bin.

[Explanation of symbols]

1: cassette library, 1B: basic console, 1C
... cassette console, 1D ... drive console, 1
J: junction console, 2: library controller, 4: cassette carrier, 6: control unit, 8, 78 ...
Carrier communication unit, 9: motor drive unit, 11, 17: input / output port unit, 13: drive device, 14, 15: cassette storage shelf, 16: cassette conveyor, 18: junction port unit, 28: motor control unit , 29, 52, 53 ... representative square window, 30 ... horizontal moving body, 34 ... horizontal moving motor,
44: vertical movement motor, 60, 80: basic control unit, 6
1, 81: Main drive control unit, 62: Motor for vertical rotation, 65: Motor for horizontal rotation, 67: Cassette holder,
70: Drive control unit, 101: Guide rail, 103
... Transport area.

Claims (4)

[Claims] 1. A device aggregate unit configured by combining a plurality of devices that are connected to each other so that their positions can be changed, wherein any one of the plurality of devices uses a removable recording medium to store information. Including recording / reproducing means for performing at least one of recording and reproduction, any of the plurality of devices includes a storage unit capable of storing the recording medium, and any of the plurality of devices has a design reference position. A device assembly, a transport unit for transporting the recording medium between any storage unit in the device assembly and the recording / reproducing unit, controlling the recording / reproducing unit and the transport unit, and Means to search and obtain a correction value based on the dimensional error between the device and the device and the transporting means, and store the correction value.Based on the correction value, the coordinates of the design reference position of the device are calculated. Obtained and stored, the information recording and reproducing apparatus for and control means for calculating the coordinates of the receiving portion from the correction value and the design reference position of coordinates, comprising the. 2. The information recording / reproducing apparatus according to claim 1, wherein the device assembly unit forms the design reference position by a representative square window. 3. An apparatus aggregate section configured by combining a plurality of devices connected to each other so that their positions can be changed, wherein one of the plurality of devices uses a removable recording medium to store information. Including recording / reproducing means for performing at least one of recording and reproduction, any of the plurality of devices includes a storage unit capable of storing the recording medium, and any of the plurality of devices has a design reference position. A device assembly unit, a transport unit for transporting the recording medium between any storage unit in the device aggregate unit and the recording / reproducing unit, and a control unit for controlling the recording / reproducing unit and the transport unit. A control method for an information recording / reproducing apparatus, comprising: a control unit that causes a search by the transport unit to obtain a correction value based on a dimensional error between the device and the device and the transport unit. And acquiring and storing coordinates of the design reference position of the device based on the correction value, and calculating coordinates of the storage unit from the correction value and the coordinates of the design reference position. A method for controlling a recording / reproducing device. 4. The control method for an information recording / reproducing apparatus according to claim 3, wherein the device assembly unit forms the design reference position by a representative angle window.