Apparatus and method for controlling tape movement in a rotary head data storage system and retrieval system

A data storage and retrieval system comprising:

• a head assembly including a rotatable carriage unit and multiple head elements mounted on the carriage unit such that the head elements are each movable with respect to the carriage unit;
• a head servo subsystem for controlling position of at least one of the head elements;
• and
• a tape drive unit for moving a tape past the carriage unit, the tape drive unit including a tape roller and a tape roller servo subsystem for controlling movement of the tape roller, the tape roller servo subsystem including a tape roller motor associated with the tape roller and a tape roller motor controller for controlling operation of the tape roller motor;
• wherein the head servo subsystem is configured to provide a head element position feedback signal to the tape roller servo subsystem, and the tape roller servo subsystem is configured to control movement of the tape roller based, at least in part, on the head element position feedback signal, and wherein the carriage unit is rotatable about an axis that is generally perpendicular to the tape when the tape is positioned adjacent the carriage unit, and the head servo subsystem is operable to radially position the at least one head element with respect to the axis.

A method of controlling movement of a tape in a data storage and retrieval system having a tape reel servo subsystem and a laser tracking servo subsystem, wherein the laser tracking servo subsystem is operable to position a lens relative to a rotatable carriage unit to perform read and/or write operations on the tape as the tape moves linearly relative to the carriage unit, the method comprising:

• receiving, from the laser tracking servo subsystem, a lens position feedback signal at the tape reel servo subsystem;
• controlling linear movement of the tape by the tape reel servo subsystem based, at least in part, on the feedback signal;
• and
• positioning the lens based, at least in part, on the feedback signal;
• wherein the carriage unit is rotatable about an axis that is generally perpendicular to the tape when the tape is positioned adjacent the carriage unit, the laser tracking servo subsystem is operable to radially position the lens relative to the axis, the lens is mounted on a support arm that is movably mounted at an end of an elongated housing supported by the carriage unit such that the support arm is translatable and pivotable with respect to the housing, the lens is movable vertically relative to the housing through translational movement of the support arm, and the lens is movable radially relative to the housing through pivotal movement of the support arm.

A data storage and retrieval system comprising:

• a head assembly including a rotatable carriage unit and multiple head elements mounted on the carriage unit such that the head elements are each movable with respect to the carriage unit, wherein each head element is mounted on a support arm that is translatable and pivotable with respect to the carriage unit, and wherein each head element is movable vertically relative to the carriage unit through translational movement of the respective support arm, and each head element is movable radially relative to the carriage unit through pivotal movement of the respective support arm;
• a head servo subsystem for controlling the position of at least one of the head elements;
• and
• a tape drive unit for moving a tape past the carriage unit, the tape drive unit including a tape roller and a tape roller servo subsystem for controlling movement of the tape roller, the tape roller servo subsystem including a tape roller motor associated with the tape roller and a tape roller motor controller for controlling operation of the tape roller motor;
• wherein the head servo subsystem is configured to provide a head element position feedback signal to the tape roller servo subsystem, and the tape roller servo subsystem is configured to control movement of the tape roller based, at least in part, on rate of change of the head element position feedback signal.

A method of controlling movement of a tape in a data storage and retrieval system having a tape roller servo subsystem for controlling movement of the tape, and a head servo subsystem for controlling position of a head element movably mounted on a rotatable carriage unit, the method comprising:

• receiving, from the head servo subsystem, a head element position feedback signal at the tape roller servo subsystem;
• and
• controlling movement of the tape by the tape roller servo subsystem based, at least in part, on the head element position feedback signal;
• wherein the carriage unit is rotatable about an axis that is generally perpendicular to the tape when the tape is positioned adjacent the carriage unit, the head servo subsystem is operable to radially position the head element with respect to the axis by moving the head element with respect to the carriage unit, the head element is mounted on a support arm that is translatable and pivotable with respect to the carriage unit, the head element is movable vertically relative to the carriage unit through translational movement of the support arm, and the head element is movable radially relative to the carriage unit through pivotal movement of the support arm.