Solaris 9 , SAN attached MSL library : robotic arm access

Could someone provide information regarding Solaris 9 configuration issue.
On a V880 using LP10K emulex HBAs in a Brocade switches SAN environment, I am facing issue configuring HP MSL6060 2 LTO3 drive library.
I am able to tar to 2 LTO drives but I do not know the steps to configure access to the library Robotic controller arm itself.
emulex hbanyware shows 4 objects for the library i.e the library controller, 2 drives and library NSR.
At this point, at OS level, devfsadm creates only tapes special files.
I am more familiar with HP-UX than Solaris : What would be solaris commands to confirm HW is seen and usable at OS level (ioscan -fnC disks + insf to create special files on HP-UX)
On Solaris 9 : I have used modinfo , modunload, modload and devfsadm commands after st.conf modifications to gain access to drives without rebooting
BUT after sd.conf modifications, update_drv -f , devfsadm -v does not create any special file to point to robotic arm.
Overall objective is to configure Data Protector indirect backup for Solaris9 server and abitlity for that host to manage robotic arm.
Any help appreciated.

I'm not sure if this will help, since this is from a very small environment, but here goes:
I recently attached an old Compaq Manatee class mini-library to a Blade 100 via a dual-channel LSI SCSI adapter and was trying to manipulate the robot arm via the open-source mtx utility.
Using the SCSI generic (sgen) driver, I was able to get this to work. Before I did the OS level change, at the prom, I did a probe-scsi-all and the system showed the two DLT7000 drives and the HP type 8 media changer. But without updating the sgen driver configuration, I could only see the DLT drives at the Solaris 9 level.
The configuration file for the sgen driver resides at: /kernel/drv/sgen.conf The file itself actually is quite clearly commented by default, which saved me a lot of research. In addition, man sgen is an excellent resource.
I added the following two lines to my sgen.conf file:
device-type-config-list="changer";
inquiry-config-list= "*", "*";And in addition, since my changer is at SCSI id 6, I uncommented the following line:
name="sgen" class="scsi" target=6 lun=0;After that I did an init 6, and lo and behold in my /var/adm/messages file:
May 15 13:54:22 baetica17.arxmicarus.lan scsi: [ID 193665 kern.info] sgen0 at glm0: target 6 lun 0
May 15 13:54:22 baetica17.arxmicarus.lan genunix: [ID 936769 kern.info] sgen0 is /pci@1f,0/pci@5/scsi@1/sgen@6,0Success! In addition, I found the following new directories and files in /dev:
/dev/scsi/changer/c1t6d0which is a symlink to the following physical device file:
c1t6d0 -> ../../../devices/pci@1f,0/pci@5/scsi@1/sgen@6,0:changerTo make specifying this physical device file easier in mtx, I also added this symlink to /dev:
/dev/changer -> ../devices/pci@1f,0/pci@5/scsi@1/sgen@6,0:changerMy example here is from my simple hardwire SCSI environment. I'm not experienced in the specific SAN environment you're operating in, but my guess is that you would probably need to make sure that you have some sort of persistent reservation for the changer made so that the physical device of the changer doesn't change between reboots.
Hope this at least gets you going in a productive direction! Please let me (and anyone else who might read this) know how you solved the issue at your site.
- Michael

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Using data from a camera to move a robot arm

Hey guys,
I have a 6 motor robot arm that operates through serial commands. The six motors are the base, elbow, shoulder, wrist, hand twist, hand grip motors. Each motor accepts a numerical value from 500-5500 to control its position. From reading the manual this is done through PWM I believe. Now my problem is that i am designing a game in where one component of it requires the robot arm to pick up a chip from a position that doesn't change, and move it to a game board. The position on that game board where the robot arm puts the chip will vary depending on the user input.
I though of just recording the values for the position of the arm in each location, but with PWM that can be slightly inaccurate because it may not go exactly back to the location when the command is set. The square areas on the board are 2 cm x 2 cm, so a bit of precision would be nice. My remedy was thinking of using a usb web camera to snap a picture of the board, and setup a coordinate system from that image to guide the robot to the correct location.
My question then is (1) is there an easier way to do this that I am missing? (2) If i went with this method then would I probably need 2 cameras? one for x-y plane and one for z-plane. Lastly (3) Also if i went with this method, i having trouble finding examples of using IMAQ to record the continous images, attach coordinate systems to the region of interest, then coorelate that to movement of the robot arm.
If anyone has had any experience doing this and can lead in the right direction then that would be great and I deeply appreciate it!

I'm not quite sure what you mean by sending serial commands and then referencing PWM. Likely, your motor controller/drive is receiving serial commands from LabVIEW and then controlling the motors with PWM signals to actual drive the movement.
If you are having slight inaccuracy in the movement, I'm also guessing that you are not using stepper motors. The much easier option than optical feedback would be to use encoder feedback on the axes, but I understand this would be difficult if you have predefined hardware without access to adding physical encoders. Without knowing more details of your hardware, it is difficult to recommend another solution.
Regardless, the IMAQ programming would be very difficult to accurately identify and guide the robot manipulator. The simpler application I would implement if forced to use image recognition would be to re-zero the robot's position after a move by comparing images when in a "home" position. You could use a fairly simple pattern matching routine and then find the displacement from the original match. This would still take quite a bit of programming, but wouldn't be anywhere near as difficult as continuous processing.
Karl G.
Applications Engineer
ni.com/support

Native NW drivers for FC attached MSL

Hi. I need to run HP Library & Tape Tools to upgrade firmware on my FC SAN attached MSL6030 and the LTO-3 drives in it. Step one in L&TT instructions say to unload the backup software. In my case, with CA Arcserve 11.1 sp3, that unloads the device drivers. This means the tape drives show up as unbound devices using List Devices. So, I know NWTAPE is the NetWare driver for the tape drives, but I need more because this MSL is attached to the NetWare 6.5 sp8 server through a FC SAN switch. Server has a QLogic card w/ QL2x00.HAM loaded. So, what NetWare drivers do I have to load so the server will see the MSL and the tape drives, so HP LTT can see them and upgrade firmware?
Thanks!

Hi,
rwmastel wrote:
>
> Thanks for your reply, but I don't know how that can be true. If you
> don't have a device driver (like NWTAPE) then when you type List Devices
> at the NetWare prompt, you don't get recognized devices - they're
> unbound.
>
> So, if I do as you recommend and don't load any drivers, and then run a
> scan in L&TT, then I get an error (image attached). If I load NTWAPE
> first, then L&TT and scan, it starts to scan for a second or two, then
> generates the same error.
>
> I believe I need the device drivers loaded, otherwise how could any
> application see the devices?
>
> +----------------------------------------------------------------------+
> |Filename: HP_LTT_ERROR.JPG |
> |Download: http://forums.novell.com/attachment....achmentid=3921 |
> +----------------------------------------------------------------------+
That actually looks like a potential issue *because* nwtape was loaded
once. You'll likely have to reboot the server, and make sure nwtape
*never* loads. Unloading it isn't sufficient.
You shouldn't need a driver. LTT works at RAW device level.
CU,
Massimo Rosen
Novell Product Support Forum Sysop
No emails please!
http://www.cfc-it.de

Urgent! FRM-10270 Cannot attach the library

I get the error message "FRM: 10270 Cannot attach the library SYSLIB while opening menu BMENU" but only when i try to open a second form while the first form is still running.
Both forms are working fine as long as they are not running at the same time.
It seems like the second form opening does not have access to the FORMS60_PATH.
All the forms and libraries (plx) are in the FORMS60_PATH.
I am running developer_6i forms & reports on a HPUX 11i with patch 11 and I am trying to access them through jinitiator 1.3.1.9 on a XP machine.
I would apprecate if anybody have any ideas about this error.
BR/Marcus

Thanks a lot for the tip. I used truss and realised that it found the library but was not allowed to open it. The kernel parameter maxfiles was set to low.
I increased it and everything works ok
BR
Marcus

FRM: 10270 Cannot attach the library when two forms run at the same time

I get the error message FRM: 10270 Cannot attach the library SYSLIB while opening menu BMENU but only when i try to open a second form while the first form is still running.
Both forms are working fine as long as they ar not running at the same time.
It seems like the second form opening does not have access to the FORMS60_PATH, because you can not open a third form because it can't find it.
All the forms anf libraries (plx)is in the FORMS60_PATH.
I am running developer_6i forms & reports on a HPUX 11i machine and I am trying to access them through jinitiator 1.3.1.9 on a XP machine.
Best regards
Macke

Thanks a lot for the tip. I used truss and realised that it found the library but was not allowed to open it. The kernel parameter maxfiles was set to low.
I increased it and everything works ok
BR
Marcus

Storagetek SL500 - Bad robot arm! PLEASE HELP

Hello,
We have a storagetek sl 500 with two tape drives. It works with Veritas Netbackup.
We have had a lot of problems with the library in the last month. When we power cycle the tape library and log into the SLC everything is fine. The cap folder, drive folder, and robot folder are all green.
However after we try to send a job from netbackup, it gets stuck at the mounting stage.
I have been able to pull out the following log from SLC in the Eventlog - Error. This is the last few entries we have. As we are out of all ides could someone please say if this is due to a bad robot arm.
We have already tested that netbackup is installed and configured properly. We have done 5 day troubleshooting on veritas, and are aware that it is not a software issue.
Time : 2007-08-16T14:31:02.408
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 1201
Request Id : (null)
Level : error
Result Code : 1103
Text : , "Host.c - hostInit() -- bad library state = 6"
Time : 2007-08-16T14:31:02.428
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 1201
Request Id : (null)
Level : error
Result Code : 1103
Text : , "Host.c - main() -- hostInit() failed"
Time : 2007-08-16T14:33:35.176
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 0100
Request Id : (null)
Level : error
Result Code : 3711
Text : , "IfmInitThread:Failure to Initialize...reason==Library initialization failed, message to host process failed - GOING INOP"
Time : 2007-08-16T14:49:28.946
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 0000
Request Id : /usr/local/bin/Ifm
Level : error
Result Code : 5608
Text : , "Director - fetchResponse() cmo_eval_op_state_precheck check before fetch detected hand full"
Time : 2007-08-16T14:49:29.242
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 3000
Request Id : (null)
Level : error
Result Code : 3322
Text : , "(request id = HOST/0x101b7440) IfmMove::commonMoveCommand(): FETCH request of tape 000030L2 from (LMRC) 0,1,2,5 failed:"
Time : 2007-08-16T15:05:54.125
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 0000
Request Id : /usr/local/bin/Ifm
Level : error
Result Code : 5608
Text : , "Director - fetchResponse() cmo_eval_op_state_precheck check before fetch detected hand full"
Time : 2007-08-16T15:05:54.362
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 3000
Request Id : (null)
Level : error
Result Code : 3322
Text : , "(request id = HOST/0x101b2d38) IfmMove::commonMoveCommand(): FETCH request of tape 000001L2 from (LMRC) 0,1,7,1 failed:"
Time : 2007-08-16T15:23:49.760
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 0000
Request Id : /usr/local/bin/Ifm
Level : error
Result Code : 5608
Text : , "Director - fetchResponse() cmo_eval_op_state_precheck check before fetch detected hand full"
Time : 2007-08-16T15:23:49.956
Device Address : 0.0.0.0.0
User : unknown
Requester : default
Activity : 3000
Request Id : (null)
Level : error
Result Code : 3322
Text : , "(request id = HOST/0x101b7fe0) IfmMove::commonMoveCommand(): FETCH request of tape 000001L2 from (LMRC) 0,1,7,1 failed:"

Contact your nearest Sun Suppoert Center.
http://www.sun.com/contact/support.jsp
Use your service contract or warranty and open a support case to get the machine repaired.
If no contract, then expect to pay for repairs.

I have had a reinstall nightmare getting my loops back they are in the apple library, I can access them through the media browser but I only have a few available through the loop browser, how do I get them all back there again? please help

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Issue with Enterprise Library's Data Access Application

I do not know if I have the correct forum for this post. I hve put it in what I believe is the most likely best forum, but please move this if there is a more germane forum for it.
I have inherited a solution (C#) which uses the reference Microsoft.Practices.EnterpriseLibrary.Data. The reference was included with the codebase I inherited, there are no missing references.
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I assumed this stored procedure is built on the fly to select from that table? Must I do something regarding  Enterprise Library's Data Access Application so that this works on the system I am running it on? (I am simply accessing the references
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Stack trace on error as:
[InvalidOperationException: The stored procedure 'configConfigurationKeysSelect' doesn't exist.]   System.Data.SqlClient.SqlCommand.DeriveParameters() +5344249
System.Data.SqlClient.SqlCommandBuilder.DeriveParameters(SqlCommand command) +115
Microsoft.Practices.EnterpriseLibrary.Data.Sql.SqlDatabase.DeriveParameters(DbCommand discoveryCommand) +72
Microsoft.Practices.EnterpriseLibrary.Data.Database.DiscoverParameters(DbCommand command) +251
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Microsoft.Practices.EnterpriseLibrary.Data.Database.ExecuteDataSet(String storedProcedureName, Object[] parameterValues) +70
Enterprise Library's Data Access Application

This is true, there IS no stored procedure  'configConfigurationKeysSelect' but there is a table named  'configConfigurationKeys.'
I assumed this stored procedure is built on the fly to select from that table? Must I do something regarding  Enterprise Library's Data Access Application so that this works on the system I am running it on? (I am simply accessing the references
included with the sourced for this, nothing else). I am looking for some guidance here, and thanks in advance.
Why do you assume that a stored procedure is create on the fly? Looking at the documentation for this component, I don't see a mention of such.
Dan Guzman, SQL Server MVP, http://www.dbdelta.com

Why is my library no longer accessable on my iphone g3? It used to be there.

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How can I find the position of a robotic arm with a cFP-CTR card?

Hello,
I use a CTR-500 to measure the pulses of 3 encoders.
The encoders are related to the 3 axis (x,y,z), to which a robotic arm is moving.
Each encoder has 2 channels (A,B) which go to each pair of Count Inputs of the CTR card.
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Thank you very much.
Message Edited by nikosfs on 08-21-2009 12:27 PM

You don't want to use a cFP-CTR-500 card. What you have are quadrature signals. You should be using the cFP-QUAD-510. It has 4 channels that can handle both the A and B signals of a quadrature encoder. It has the built in circuitry do determine the phasing of A vs. B to know when to count up vs. count down.

Block sharepoint document library recycle bin access by normal user

Any method to block sharepoint document library recycle bin access by user with Contribute permission?
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you need to edit the master page and use SPSecurityTrimmedControl in order to get it done.
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another way is hide from all pages using css.
http://www.ilikesharepoint.de/2012/06/sharepoint-2010-how-to-hide-the-recycle-bin-and-the-all-site-content-links/
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Which chassis port will be required for project of robotic arm(interfacing)

hello..
actually few hardware attachments ports are present at my uni labVIEW setup, that are:
ni pxi-1050, ni pxi-8196, ni scxi-1102b, ni scxi-1112, ni scxi-1162, ni scxi-1124
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plz help...........

Hello,
In the system you specifed you will also need a DAQ card which will control the SCXI portion, Generally SCXI hardware is used for signal conditionin, and I have not seen anyone controlling motors of a robotic arm. If you want to interface robotic arm you should look into Motion cards or RIO solutions. This link might help getting started with what hardware you might need for this project.
Hope this helps
NI-khil

Dynamic parameters for robotic arm

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Attach Plsql Library remove library path yes/no

Hi,
While i attache a libary file im getting one message window.
Attached Library name d:\kk\test.pll contains a non portable directory specification.Remove path.
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Edited by: raja on 20 Feb, 2012 10:43 PM

raja wrote:
Hi,
While i attache a libary file im getting one message window.
Attached Library name d:\kk\test.pll contains a non portable directory specification.Remove path.
yes/no
can any any body explain about this please .
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KamarajWhen attaching any library.pll form builder shows this message.
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If no, form builder remember the path and attach the library but when opening second time it looks for the library in the remembering path.
hopes this helps

Draw one robot arm Link in Graphics

Hello,
i want to draw one straight line as robot arm link in graphics . if i change x and y location than, its change position according to it .
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Thanks
Nirav Virpara
Solved!
Go to Solution.

Hi Nirav,
Are you looking for this one??
Thanks as kudos only

Solaris 9 , SAN attached MSL library : robotic arm access

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