Media handling system and method

A method for positioning a data cartridge in a media handling system having a gripper configured to hold and move the data cartridge, and a code reader associated with the gripper and mounted to move therewith, and having a data cartridge processor with an opening to receive the data cartridge therein, comprising the steps of:

• moving the gripper into a position so the code reader can read a first code symbol affixed to the data cartridge processor having information content about the data cartridge processor other than location information, the first code symbol further having a detectable position reference at a fixed location relative to the processor opening and at a predetermined distance from the processor opening;
• reading the first code symbol to acquire the information content about the data cartridge processor;
• detecting the position reference of the first code symbol;
• using the detected position reference to calculate the required movement of the gripper after the code reader reads the first code symbol to accurately move the gripper from a current position of the gripper toward the processor opening based upon the predetermined distance of the position reference to the processor opening;
• and
• upon the gripper arriving at the processor opening from the current position, removing from or inserting into the processor opening the data cartridge.

A media handling system using a data cartridge, comprising:

• a data cartridge processor having an opening to receive the data cartridge;
• a gripper configured to at least one of insert the data cartridge into or remove the data cartridge from the processor opening, the gripper being configured to engage the data cartridge;
• a first code symbol affixed to the data cartridge processor, the first code symbol having information content about the data cartridge processor other than location information and a detectable position reference at a fixed location relative to the processor opening and at a predetermined distance from the processor opening;
• a code reader associated with the gripper and mounted to move with the gripper, the gripper and the code reader being at unknown spaced-apart positions relative to each other, the code reader being operable to read the first code symbol to acquire the information content about the data cartridge processor and detect the position reference of the first code symbol when the gripper is moved to place the code reader in a position to read the first code symbol;
• an actuator coupled to the gripper to effect movement thereof, the actuator being operatively coupled to receive information from the code reader, including detection by the code reader of the position reference, the actuator using the information on detection of the position reference to move the gripper from a current position toward the processor opening for removing from or inserting into the processor opening the data cartridge;
• and
• a contact member at a fixed location and a predetermined distance from the position reference of the first code symbol, the contact member being located and sized such that the actuator can move the gripper into contact therewith, the actuator being operable to determine relative spaced-apart positions of the code reader and the gripper by moving the gripper into contact with the contact member and thereby determine a location of the gripper when in contact with the contact member, and moving the gripper to position the code reader to read the first code symbol and thereby detect and determine a location of the gripper when the code reader is in position to read the position reference of the first code symbol, the actuator being configured to determine an amount of movement of the gripper between the location of the contact member and the position reference of the first code symbol, and calculate relative spaced-apart positions of the gripper and the code reader, and to adjust further movements of the gripper toward the processor opening after the code reader reads the first code symbol based upon the calculated relative spaced-apart positions of the gripper and the code reader.

A method for positioning a data cartridge in a media handling system having a gripper configured to hold and move the data cartridge, and a code reader associated with the gripper and mounted to move therewith, and having a data cartridge processor with an opening to receive the data cartridge therein, the gripper and the code reader being at unknown spaced-apart positions relative to each other, and the media handling system including a contact member at a fixed location and a predetermined distance from a detectable position reference of a first code symbol affixed to the data cartridge processor having information content about the data cartridge processor other than location information, the position reference being at a fixed location relative to the processor opening and at a predetermined distance from the processor opening, comprising the steps of:

• moving the gripper into a position so the code reader can read the first code symbol;
• reading the first code symbol to acquire the information content about the data cartridge processor;
• detecting the position reference of the first code symbol;
• using the detected position reference to move the gripper from a current position to the gripper toward the processor opening based upon the predetermined distance of the position reference to the processor opening;
• upon the gripper arriving at the processor opening from the current position, removing from or inserting into the processor opening the data cartridge;
• moving the gripper into contact with the contact member;
• determining a location of the gripper when in contact with the contact member;
• moving the gripper to position the code reader to read the first code symbol and thereby detect the position reference of the first code symbol;
• determining a location of the gripper when the code reader is in position to read the position reference of the first code symbol;
• determining an amount of movement of the gripper between the location of the contact member and the position reference of the first code symbol;
• calculating relative spaced-apart positions of the gripper and the code reader;
• and
• adjusting further movements of the gripper toward the processor opening after the code reader reads the first code symbol based upon the calculated relative spaced-apart positions of the gripper and the code reader.

A media handling system using a data cartridge, comprising:

• a data cartridge processor having an opening to receive the data cartridge;
• a gripper configured to at least one of insert the data cartridge into or remove the data cartridge from the processor opening, the gripper being configured to engage the data cartridge;
• a positioning code symbol having a detectable position reference at a fixed location;
• a code reader associated with the gripper and mounted to move with the gripper, the gripper and the code reader being at unknown spaced-apart positions relative to each other, the code reader being operable to read the positioning code symbol when the gripper is moved to place the code reader in a position to read the positioning code symbol;
• an actuator coupled to the gripper to effect movement thereof, the actuator being operatively coupled to receive information from the code reader, the actuator being operable to remove the data cartridge from or insert the data cartridge into the processor opening;
• and
• a contact member at a fixed location and a predetermined distance from the position reference of the positioning code symbol, the contact member being located and sized such that the actuator can move the gripper into contact therewith, the actuator being operable to determine relative spaced-apart positions of the code reader and the gripper by moving the gripper into contact with the contact member and thereby determine a location of the gripper when in contact with the contact member, and moving the gripper to position the code reader to read the positioning code symbol and thereby detect and determine a location of the gripper when the code reader is in position to read the position reference of the positioning code symbol, the actuator being configured to determine an amount of movement of the gripper between the location of the contact member and the position reference of the positioning code symbol, and calculate relative spaced-apart positions of the gripper and the code reader, and to adjust further movements of the gripper relative to the processor opening after the code reader once reads the positioning code symbol based upon the calculated relative spaced-apart positions of the gripper and the code reader.

A method for positioning a data cartridge in a media handling system having a gripper configured to hold and move the data cartridge, and a reader associated with the gripper and mounted to move therewith, and having a data cartridge processor with an opening to receive the data cartridge therein, the gripper and the reader being at unknown spaced-apart positions relative to each other, and the media handling system including a contact member at a fixed location and a predetermined distance from a position reference readable by the reader, the position reference being at a fixed location, comprising the steps of:

• moving the gripper to at least one of remove the data cartridge from and insert the data cartridge into the processor opening;
• moving the gripper into contact with the contact member;
• determining a location of the gripper when in contact with the contact member;
• moving the gripper to position the reader to read the position reference;
• determining a location of the gripper when the reader is in position to read the position reference;
• determining an amount of movement of the gripper between the location of the contact member and the position reference;
• calculating relative spaced-apart positions of the gripper and the reader;
• and
• adjusting further movements of the gripper relative to the processor opening after the reader reads the position reference based upon the calculated relative spaced-apart positions of the gripper and the reader.