Revision Protocol Date Author Company Description January Paul DOS REMEDIO S. Imagine Communications

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1 PRODUCT ADC TOPIC ODETICS TCS-90 CART MACHINE DATE: January 25, 2001 REVISION HISTORY Revision Protocol Date Author Company Description January 2001 Paul DOS REMEDIO S Imagine Communications New management of the reverify bin command. New management after a door 1.0 March 9, 1999 DESCRIPTION Louth U.S. closed. Revised the Robotics Command Error Code Table VERSIONS USED Firmware: Operator s Manual: Protocol: REQUIREMENTS CABLE REQUIREMENTS The TCS-90 requires a 25 pin Male to 9 pin Male conversion cable and a B&B Electronics RS-232 to RS-422 Converter or similar converter for control. The cable must have the following connections: TCS-90 (25 pin Male) Louth ADC (9 pin Male) 7 (GROUND) 4 & 6 (GROUND) 2 (TX -) 2 (RX -) 17 (RX +) 3 (TX +) 14 (TX +) 7 (RX +) 5 (RX -) 8 (TX -) It is also necessary to connect directly to each VTR in the TCS-90. This could require up to 6 standard db 9 male pin-to-pin to db 9 male serial RS-422 cables. Imagine Communications Corp. 1

2 CONNECTIONS The 25 pin Male end of the custom conversion cable should be connected to the B&B Electronics RS- 232 to RS-422 Converter and this converter connected to the port labeled Robotics Controller on the rear of the TCS-90 and the 9 pin end plugged into the selected port of the ADC server. Do not attach to TCS-90 port labeled Sequence Controller. Be sure that power is supplied to the B&B Electronics RS-232 to RS-422 Converter. Communications may be erratic without this power connection. Make sure all cable connector screws are tightened securely. Each standard RS-422 cable should connect from the 9 pin Remote 1 port of a VTR to the selected port of the ADC server. This provides machine control for the individual VTR. It may also be desirable to connect a dump terminal or a computer running a terminal emulator (with or without logging capabilities) to the Odetics Service Terminal port. This will provide a real time window into the serial communications between the ADC and the TCS-90 and may be useful in troubleshooting. This is a standard RS-232 connection. COMMUNICATIONS PARAMETERS The communications parameters for the TCS-90 are: Baud Rate: 9,600 Data Bits: 8 Parity: None Stop Bits: 1 DEVICE SERVER SET-UP Select the Options pull down menu in the ADC device server. 1. Select Configure Devices and choose the device number to which the TCS-90 is to be assigned. The device number is the port to which the RS-422 cable is connected on the ADC. 2. Select Change. 3. Select Cart Machine from the list of devices and Odetics TCS90 for the protocol. Select OK and then Save. The system will prompt for confirmation. 4. Select the Options pull down menu again. 5. Select Device Parameters and choose the device Odetics TCS-90 to set-up the device for operation and select OK. 6. Select DEVICE NAME. The default device name is CART. If a different device name is desired Click on Change, enter the new name using the keyboard and click on OK. 7. With the VTRs cabled and powered on, select VTR PORTS from the Device Parameters list and click or TAB to the VTRs found in the TCS-90. The top VTR is VTR1 then VTR2, etc. The last VTR is VTR6. Type the port assignment of each VTR. Note that the VTR ports are assigned from Device Parameters for the TCS-90 not from the Configure Devices menu. 8. Set up the port assignment for the Linkage port. This is the port assignment of the Robotics Controller being shared via the linkage port. Imagine Communications Corp. 2

3 9. Once again from the Device Parameters, select Audio/Video List for each VTR and list in the system and fill in the appropriate Audio/Video Out and Audio/Video In crosspoints. 10. When satisfied with all parameter selections, select Save and the set-up will be made permanent. To save your settings to disk, select the Options pull down menu and then Save Options. 11. The VTRs of the TCS-90 must be assigned to a list. Select the Options pull down menu and then select Assign Devices. 12. Click on the desired list then click on Add/Move to assign the VTR to that list. To save the list settings to disk, select the Options menu and then Save List Settings. OPERATION NOTES The TCS-90, TCS-90A, TCS-90M and TCS-90LEM all operate in the same basic manner. The TCS-90 is a standalone cart machine. The others may be connected together to expand the library capacity and VTR capacity of the primary cart machine. The TCS-90LEM and TCS-90A both expand the cassette library capacity and must be connected to a primary TCS-90M cart machine. The TCS-90A expands VTR capacity as well. For the TCS-90LEM, references to VTR operation should be disregarded. For the TCS-90, references to the linkage port should be disregarded. It is possible to have different tape storage capacities in the same basic model of cart machine. However one fact should always be true. If there is a mixture of large and small cassette bins in the machine all large bins must be to the left of any small bins. Load 30 Large 8 VTR 1 VTR 2 VTR 3 VTR 4 VTR 5 VTR 6 The TCS-90 contains multiple columns of cassette bins, a load port within the first column on the left side of the machine and a stack of VTRs in the rightmost column of the machine. The cassette columns may be sized for large or small cassettes. If there is a combination of cassette sizes the column containing the load port will always contain the large cassettes. Large cassette columns are always found to the left of all small cassette columns. TCS-90 Load 30 Large 8 TCS-90M VTR 1 VTR 2 Linkage Port VTR 4 VTR 5 VTR 6 The TCS-90M contains multiple columns of cassette bins, a load port located within the leftmost column, a stack of VTRs in the rightmost column and a linkage port also located in the rightmost column with the VTRs. The cassette columns may be sized for large or small cassettes. The linkage port allows transfer of cassettes between this primary cart machine and its library expansion module. If there is a column of large cassettes in the primary cart machine there should be a large column in the expansion module Imagine Communications Corp. 3

4 Linkage Port VTR 1 VTR 2 VTR 4 VTR 5 VTR 6 30 Large The TCS-90A contains multiple columns of cassette bins, a stack of VTRs in the leftmost column and a linkage port also located in the leftmost column with the VTRs. The cassette columns may be sized for large or small cassettes. This is a library expansion module which also expands the VTR capacity of the cart machine system. The TCS-90A must be configured with a TCS-90M for operation. TCS-90A Linkage Port 30 Large The TCS-90LEM contains multiple columns of cassette bins and a linkage port located in the leftmost column. The cassette columns may be sized for large or small cassettes. The TCS-90LEM must be configured with a TCS-90M for operation. TCS-90LEM Possible configurations are: TCS-90 only TCS-90M with a TCS-90LEM TCS-90M with a TCS-90A TCS-90M alone (no linkage port assignment configured) All tapes are loaded and ejected from the TCS-90 via the Load Bin. The Load Bin automatically opens when all of its slots are full. At this time remove the tapes and press the Open/Close button. If it is necessary to unload a partially full Load Bin, press the Open/Close button to open the Load Bin, unload the tapes and press the Open/Close button to restore the Load Bin to the closed position. NOTE: Do not remove tapes from the internal bins of the TCS-90 by hand via the front access doors. This may cause future Unusable location errors. Tapes should be loaded into the TCS-90 via the Load Bin. Place tapes in any open slot of the Load Bin. When the required tapes have been loaded, press The Open/Close button located at the bottom of the Load Bin to close the Load Bin. All tapes in the slots will be Bar Code Read and stored in the internal bins of the TCS-90. Imagine Communications Corp. 4

5 NOTE: Do not load Tapes into the TCS-90 through the front access doors. Tapes loaded in this manner will not be correctly entered into the storage window of the TCS-90 and will not be available for list usage. In the System pull down menu of the device server, there is a selection Device Diagnostics. From this menu the various devices can be selected and then specialized diagnostic services for the device can be accessed. The TCS-90 provides the following diagnostic services: Reinitialize Cart Reverify Elevator Operation VTR External Operation Reinitialize provides full initialization of the cart machine. It will initialize the Elevator and Arm mechanism, close the Load Bin, as well as delete all entries in the cart machine s media storage window and then bar code read each bin in the TCS-90 inserting the id into the media storage window. It will also eject any tapes found in the VTRs and replace them into bin storage or eject them from the cart machine. If the TCS-90 is running in manual elevator operation, reinitialization will place the elevator back in service. Any VTRs which have been placed in external mode must be put back in service via the VTR External Operation. They will not be placed back into internal Odetics control automatically by a reinitialize. Reverify provides a non-disruptive verification of the ids found in the bins of the TCS-90. There are two ways of reading the bins. The first one is bin by bin, the second one is column by column. To choose one-way, the operator have to check it in System pull down menu; Diagnostics tab. No threaded cassettes are ejected by this process, thus the list may still continue running during verification without placing the VTRs off-line. The existing entries in the cart s media library will not be automatically deleted, but each one checked as the barcode read of the bin is completed. If a mismatch is found between the id thought to be in the media storage window and the physical id input from the barcode read, the original id will be removed from the media storage window and the newly read id inserted as the data for that bin. This will allow resynchronization of the TCS-90 real tape collection and the ADC media collection for this device. A reverify bins cannot be started while the elevator is in manual operation. The reverify operation is a background operation. All loading of cassettes into VTRs and removing of tapes from VTRs is of higher precedence and may temporarily stop the verification process. This is true only if the operator checks for a reverify bin by bin. The other way the TCS90 finish the verification, and after that load or remove a tape from VTRs. Also during a library reverify bin by bin there is a temporary suspension of the loading of new cassettes into the TCS-90 and removal of cassettes from the TCS-90. If during the reverify or the reinitialize thetcs90 cannot read a barcode (ID = XXXXX or XXXXXXXX ), an error message is displayed on the Air Client : BAD BARCODE READ AT : cll (c: column, xx: line). Elevator Operation allows the user to place the TCS-90 into manual operation or restore it to automated operation. In the manual mode the robot and arm mechanisms are placed off-line for maintenance or repair and the operator becomes the replacement for the robot. This mode must be run with the main doors of the cart machine opened since the operator must have ready access to all of the bins as well as the vtrs. Prompting will be given to indicate when tapes need to be loaded into VTRs from the TCS-90 library or removed from VTRs and replaced into the TCS-90 tape library. It is necessary to Enable Pop up Imagine Communications Corp. 5

6 Diagnostic Window from the Errors menu of the Preferences menu on the client being used. This will allow the prompting messages to appear on only that client. Other clients will not be affected. Each pop up window must be closed before the next diagnostic message is displayed. This insures that no message is missed and that tapes are moved in the order they are needed by the vtrs. In this mode no cassettes should be manually removed from the cart machine cassette bins except when requested to thread into a VTR. No tape should be placed into a different cassette storage bin than its original bin location, or be exchanged with a tape of a different id. No tapes should be added into the cart machine. The ADC will not recognize any new tapes physically placed into the storage bins of the cart machine. Also at this time it is not possible to use the load/unload bins of the TCS-90. There are some differences in the operation of this function in the various models of the TCS-90 series. If the TCS-90LEM is placed into manual elevator mode there will be no prompting given to load tapes from the LEM storage into the vtrs of the associated TCS-90M. When the TCS-90LEM is placed into manual elevator mode it essentially turns into an external library storage. The tapes in its storage will no longer be directly available to the ADC. There will be no transfer of tapes to or from the TCS-90M. If the TCS-90M is placed into manual elevator there will be prompting to load tapes located in the TCS- 90M into vtrs, however mode the transfer of tapes to and from the TCS-90M will no longer occur. The transfer port will become inactive. Any library expansion module linked to the TCS-90M should also be placed into manual elevator operation at this time also. VTR External Operation is used in conjunction with the manual mode to remove VTRs from the automatic cart machine threading logic and make them operate like other external VTRs. This function is not available on the TCS-90LEM since it does not control any vtrs. Ids which are not found in the TCS-90 library can be loaded into the external VTRs and recognized by the ADC via non-tcs-90 barcode read, userbits read, or manual events. Any VTR placed into external operation will become a floater and be available to any list running in the ADC. Refer to External VTR operation descriptions in the ADC manual for additional details. Putting one of the cart machine vtrs into external mode can only be done while the elevator is in manual operation. Remember that the main doors of the TCS-90 must be opened because the operator requires full access to the vtrs and bins. Putting a vtr into external operation allows media which were not loaded into the cart machine at the time it was placed in manual elevator operation to be played. Since the load port does not function during manual elevator operation no additional tapes can be added to the TCS-90 once it is place in manual elevator mode. Eventually it may be necessary to play spots on tapes not found in the cart bins. The external vtr (in the cart) provide a resource to play these spots. If there are external vtrs which can handle the same tape format as the cart there would be no need to place cart vtrs into external operation. Various devices can be selected and then specialized diagnostic services for the device can be accessed. The TCS-90 provides the following diagnostic services: In the System pull down menu of the device server, there is a selection Device General. From this menu the operator has two options for the TCS90. First option is Eject on init ; if checked, it will eject all the VTRs during the initialization of the device server. The second option is reverify bins after a closing door; if checked, the TCS90 will automatically read the bins (column by column) after a closing door. Load Port : If a tape has to be loaded in the TCS90 and there is no more empty bin space in the cart, an error message is displayed on the Air Client : NO MORE BIN SPACE. The tape is taken by the gripper and inserted again in the same load port bin. This unload bin light is on. Imagine Communications Corp. 6

7 TEST PROCEDURES The TCS-90 should be tested with the ADC software to insure all cabling is correct and the TCS-90 and its VTRs are communicating with the ADC server. Ensure that the serial RS-422 cable is attached to the server and that the appropriate RS-232 converter has been included in the cable connections as described above. Bring up the ADC software. When finished configuring the TCS-90 on the device server, open the Device Status Window and verify that the device status is something other than NO DEV. If it is NO DEV then the device server and the TCS-90 are not communicating. A status of NO COM indicates a failure of the ADC serial port being used or a non-existent serial port. Verify that the cables are properly connected, the device is powered on and configured in the device server. If there is still no communication, verify that the signals are being sent and received through the RS-422 cable using a VOM attached to the transmit and receive lines. There should be change in the voltage on these lines. An RS-422 analyzer may also be used in-line to verify communications. The communications with the Robotics Controller of the TCS-90 will be tested by device initialization or Re-Initialization. This will initialize the Elevator, Hub, and Arms, rotate the Load Bin to the opened position, rotate the Unload Bin to the closed position, as well as bar code read each bin in the TCS-90. It will also eject any tapes found in the VTRs and replace them into bin storage or eject them. Test the eject mechanism for the TCS-90 bins by ejecting a number of tapes. Open the Cart Machine Bin window and mark tapes to eject. Then under the Devices Menu option select Eject and make sure that the tapes are moved to the Unload Bin. The Unload Bin should rotate to the opened position as soon as the last slot in it is filled with an ejected tape. Empty the tapes and press the Unload Rotate button above the Unload Bin to return the Unload Bin to the closed position. Test the loading of tapes by putting one or more tapes into the Load Bin of the TCS-90. When the tapes have been loaded, press the Load Rotate button or the Load Immediate button. Make sure that the TCS-90 bar code reads the tapes and moves them to internal bins. If any tape fills the next to last bin of the TCS-90, the ADC should determine which bin is not needed for List operation and should eject a tape to the Unload Bin. The Unload Bin will automatically rotate to the open position when its last bin is full. One bin should always remain empty in the TCS-90. With tapes in the TCS-90, build a playlist that contains these tape ids. Load the list into a Transmission list. Make sure KEEP LIST THREADED is enabled under List Type under Transmission Menu options. Use Program Run on the Control Panel to thread the list. Make sure the elevator moves tapes to the VTRs and that they cue correctly. Unthread the list using Unthread on the Control Panel and make sure the tapes are returned to their respective bins. The TCS-90 should be tested with the ADC software to insure all cabling is correct and the TCS-90 and its VTRs are communicating with the ADC server. ERROR CONDITIONS AND RECOVERY Before a VTR is uncabled or powered off, the VTR must be disabled first. 1. Make sure that the VTR is in eject status. 2. De-assign the VTR from the list. 3. Under Device parameters for the TCS-90, select VTR PORTS. 4. Click or use the space bar to clear the VTR that is to be disabled. 5. Press OK, then SAVE to change the TCS-90 Parameter. 6. When putting a deck back on line, it must be powered on and cabled before it is enabled in the Server. 7. If this setup is permanent, it can be saved when a saved options is done. Imagine Communications Corp. 7

8 Certain commands given to the TCS-90 Manipulator Arm can cause Unable to Execute Responses. The ADC decodes these responses and output a descriptive entry into the Error Log if one of these conditions occurs. The following table is provided as a guide to these responses. These errors are from the Robotics Controller interface. Response UA UB UC UD UE UF UG UH UI UJ UL UM UO UR US UT UV UW UX UY UZ Description or Cause One or more cassette handler component not indexed. Fetch command attempted with cassette in gripper. Bar code read attempted with cassette in gripper. Attempted to access an unusable location. Attempt to access the load port while open. Attempted an insert with no cassette in gripper. Attempted a movement command while a targeting sequence is active and the service door is open. Attempted a movement command while one or both axis off line. Cassette Handler is off-line. Attempted a transfer command with an unknown obstruction in the transfer path. Attempted a load port command with no load port installed. Attempted a transfer command with no transfer mechanism installed. RC SOFTWARE ERROR Internal software error occurred. Attempted a movement command while the emergency stop switch is activated. Attempted a movement command while the light curtain is obstructed. Load port is not indexed. Cassette Handler did not respond to the Robotics Controller within its time limit. An error occurred with the bar code reader. Attempted a loadport command before previous stall condition cleared. Fetch command attempted from an empty load bin or VTR. Insert command attempted to an occupied load bin or VTR. Attempted to access a VTR which is not in place. Attempted a load port index, open, or close when Cassette Handler in front of load port and not retracted or not indexed. Attempted a movement command while one or more Cassette Handler Controller sliders are not retracted. Attempted a movement while the service door is open and the mode is set to disable movement while the door is open. Insert command attempted to an incorrect size location. In the event that the TCS-90 exhibits a mechanical malfunction, the ADC will output a line to the Error Log CART MALFUNCTION - Mnnn. The following table is provided as a guide to these Malfunction Codes. CODE MALFUNCTION DESCRIPTION 12 Gripper slider extend limit switch unexpectedly activated 17 Gripper home sensor did not activate during an index Imagine Communications Corp. 8

9 CODE MALFUNCTION DESCRIPTION 18 Cassette Handler Controller failed to retrieve a cassette for a get command 23 Cassette was not taken by the VTR after a put command 56 The cassette sensor activated too early for a get command 57 Gripper over temperature sensor activated 58 Gripper over torque sensor was activated 59 Gripper slider over temperature sensor was activated 60 Gripper slider over torque sensor was activated 61 Gripper slider stalled unexpectedly during movement 62 Bridge slider extend limit switch unexpectedly activated 63 Bridge slider over temperature sensor was activated 64 Bridge slider over torque sensor was activated. 65 Bridge slider stalled unexpectedly during movement 66 Bridge size minimum limit switch unexpectedly activated 67 Bridge size over temperature sensor was activated 68 Bridge size over torque sensor was activated 69 Bridge size obstruction sensed during index, but gripper empty 70 Load port extend limit switch unexpectedly activated 71 Load port over temperature sensor was activated 72 Load port over torque sensor was activated 73 Light curtain obstructed during movement 74 Emergency stop activated during movement 75 Cassette handler failed to respond within its time limit 76 Bar code reader error during targeting 77 Cassette other than targeting cassette found during targeting 78 No cassette at all was found during targeting 79 An error occurred while attempting to read the targeting cassette 80 The destination VTR was taken out of position during a movement command 81 The load port is not indexed 82 Horizontal axis limit sensor unexpectedly activated 83 Vertical axis limit unexpectedly activated 84 Door was opened during movement and the mode is set to disable movement while the door is open 113 The gripper movement stalled unexpectedly 114 No motor encoder pulses are being received from the gripper 115 The gripper was commanded to close but encoder feedback is reversed 116 The gripper was commanded to open but encoder feedback is reversed 118 The gripper home sensor never went off during an index 119 The gripper encoder failed to reset during an index 124 No motor encoder pulses are being received from the gripper slider 125 The gripper slider was commanded to extend but encoder feedback is reversed 126 The gripper slider was commanded to retract but encoder feedback is reversed 127 The gripper slider home sensor never went on during an index 128 The gripper slider home sensor never went off during an index 129 The gripper slider encoder failed to reset during an index 134 No motor encoder pulses are being received from the bridge slider 135 The bridge slider was commanded to extend but encoder feedback is reversed 136 The bridge slider was commanded to retract but encoder feedback is reversed 137 The bridge slider home sensor never went on during an index Imagine Communications Corp. 9

10 CODE MALFUNCTION DESCRIPTION 138 The bridge slider home sensor never went off during an index 139 The bridge slider encoder failed to reset during an index 143 The bridge size movement stalled unexpectedly 144 No motor encoder pulses are being received from the bridge size 145 The bridge size was commanded to extend but encoder feedback is reversed 146 The bridge size was commanded to retract but encoder feedback is reversed 147 The bridge size home sensor never went on during an index 148 The bridge size home sensor never went off during an index 149 The bridge size encoder failed to reset during an index 154 No load port pulses are being received from the load port 155 The load port was commanded to extend but encoder feedback is reversed 156 The load port was commanded to retract but encoder feedback is reversed 157 The load port home sensor never went on during an index 158 The load port home sensor never went off during an index 159 The load port encoder failed to reset during an index 160 The load port movement stalled unexpectedly 170 The requested transfer command could not be completed due to an obstruction, jam, mechanical failure or other error condition 171 The main side ejector of the transfer mechanism stalled unexpectedly 172 The auxiliary side ejector of the transfer mechanism stalled unexpectedly 200 The current robotics controller command failed to complete within the timeout period 201 The robotics controller was reset during execution of the current command 202 Internal Odetics software error occurred 203 The auxiliary side ejector of the transfer mechanism was commanded to move in the forward direction but encoder feedback was reversed 204 The auxiliary side ejector home sensor of the transfer mechanism failed to deactivate during an index 205 The auxiliary side ejector home sensor of the transfer mechanism was commanded to move but no encoder pulses were received 206 The auxiliary side ejector home sensor of the transfer mechanism failed to activate during an index 207 The auxiliary side ejector home sensor of the transfer mechanism failed to reset during an index 208 The auxiliary side loader of the transfer mechanism was commanded to move in the forward direction but encoder feedback was reversed 209 The auxiliary side loader home sensor of the transfer mechanism failed to deactivate during an index 210 The auxiliary side loader home sensor of the transfer mechanism was commanded to move but no encoder pulses were received 211 The auxiliary side loader home sensor of the transfer mechanism failed to activate during an index 212 The auxiliary side loader home sensor of the transfer mechanism failed to reset during an index 213 The main side loader of the transfer mechanism was commanded to move in the forward direction but encoder feedback was reversed 214 The main side loader home sensor of the transfer mechanism failed to deactivate during an index 215 The main side loader home sensor of the transfer mechanism was commanded to move but no encoder pulses were received Imagine Communications Corp. 10

11 CODE MALFUNCTION DESCRIPTION 216 The main side loader home sensor of the transfer mechanism failed to activate during an index 217 The main side loader home sensor of the transfer mechanism failed to reset during an index 218 The main side ejector of the transfer mechanism was commanded to move in the forward direction but encoder feedback was reversed 219 The main side ejector home sensor of the transfer mechanism failed to deactivate during an index 220 The main side ejector home sensor of the transfer mechanism was commanded to move but no encoder pulses were received 221 The main side ejector home sensor of the transfer mechanism failed to activate during an index 222 The main side ejector home sensor of the transfer mechanism failed to reset during an index Certain error conditions may occur in the TCS-90 which require operator intervention to completely correct the problem. Always try to remedy the situation by allowing the ADC to complete the failed operation. To correct problems in the cart machine, first open the front service door of the cart machine and push the large red button at one of the lower corners. This will remove power to the robot arm. It will stop actions of the robot. Correct the problem (i.e. replace dropped cassette, straighten the cassette, adjust the gripper). Finally release the red button. The cart machine should continue with a retry of the last operation. The ADC will only attempt one retry before removing the command from its processing queue. If an error is generated during a thread operation on a cart machine VTR, it will be necessary to determine the cause of the error. There may be a problem with the gripper or arm mechanism or the tape may be missing from its storage bin. Open the door of the TCS-90 and investigate the cause of the error. If the error was caused by gripper malfunction, correct the problem, close the door of the TCS-90 and allow the ADC to retry the operation. If the error was not caused by a gripper problem and the tape is physically missing from the storage bin it belongs in, then the event must be cut from the list. Any other use of this id should also be cut from the list or the tape loaded into the cart s library via the Load Bin before the tape is to be cued again. Next, the VTR should be switched from Remote, to Local, and back to Remote. When the door of the TCS-90 is closed, the ADC s retry mechanism will attempt the failed command again. It may be necessary to re-execute this recovery procedure at this time, but after this the ADC will toss the failed command. The ADC will only retry TCS-90 commands one time. INTERNAL DOCUMENT # FILE P:\Engineering\Public Documents\Usernote\Current User Notes\Devices\Cart Machine\Odetics\Odetics TCS90 note 2 Imagine Communications Corp. 11