Manual RL02

RLOl / RL02 DISK DRIVE

Technical Manual

RL01/RL02 DISK DRIVE TECHNICAL MANUAL

DIGITAL EQUIPMENT CORPORATION COLORADO SPRINGS, CO 80919

EK-RL012-TM-PRE (PRELIMINARY)

Preliminary Edition, September 1978 (Revision) August 1978 (2nd Revision) March 1979 (3r1 Revision) December 1979

Copyright

@

The information in this manual is for informationcd purposes and is subject to change without notice.

Digital Equipment Corporation assumes no responsibility for any errors which may appear in this manual.

Printed in U.S.A.

This document was set on DIGITAL'S WPS-8 Word Processing System.

The following are trademarks of Digit::11 Eqllipment Corporation, Maynard, Massachusetts: \

DEC

DF.C~ystem-]0

DrBOL

lAS

OMNIBUS Q-BUS UNIBUS

DECUS

DECSYSTEM-20 Dig ⁱ tal Logo LSI-ll

PDP

RSTS

VAX

VT

DECn(~t

DECwriter Ed uSystem MASSBUS PO'!' RSX VMS

SECTION I

CHAPTER 1 1.1

1.1.1 1.1. 2 ] .1. 3 1.1.3.1 1.1.3.2 1.1.3.3 1.1.3.4 1.1.3.5 1.1.3.6 1.1.3.7 1.1.3.8 1.1.3.9 1. 1. 4 1.1.4.1 1.1.4.2 1.1.4.3 1.1.4.4 1.1.5 1.2

CHAPTER 2 2. 1

2.2 2.2. 1 2. 2.2 2.2.2.1 2.2.2.2 2.2.2.3 2.2.2.4 2.2.2.5 2.2.2.6 2.2.3 2.2.4 CHAPTER 3

3.1 3.2 3.3

CHAPTER 4 4.1

4.2

TABLE OF CONTENTS TECHNICAL DESCRIPTION

INTRODUCTION

GENERAL DESCRIPTION

. . . ^. . . . . . . . . . . . . . . .

Servo-In-Data Concept ••••••••••••••••.••••.•••

Storage Medium •••••..••.••••••••.••••••.••..••

Mechanical Partitioning

Air Flow System ... ^c.. . . . ..

Air Filter ... " .. ..

Positioner Assemhly . . . . • . . . • . . . . • . . . . • . • • Spindle Assembly ••.••.•••.••.•.••..••.••••..

Brush Drive Assembly ...•.••..•••.••.•••..•

Rea\.i/Wri.te Heads ... " ... ..

Read/Write Board ... ..

Power Panel . . . . Control Panel ... ^I . . . ..

Drive Electronics PArtitioning •••••.••.••••••

Drive Logic Module •••••••••..••••••.•••.•••

OC Se rvo Mod ul e ... ..

AC Servo Module ••••....•••••••••••.•.••••••

Read/Write Module ...•.••.••••••••••••.•••.•

Doc urn e n tat ion ••••••••••••••••••••••••••••••••

SUBSYSTEM SPEC IF ICATIONS •.•.•••••••••••••••••.•

SYSTEM - LEVEL DESCRIPTION

RL01/RL~2 MASS STORAGE SUBSYSTEM •••••••••.••••••

DISK CARTRIDGE FORMAT •.•••••••••••••••••••••••••

Data Format

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Servo Data . . • . . . . • • . . . • • . • . . • • • . • . . . • . . . . Introduction ••.••••.••.•••.••••••••••••••••.

Modes of Operation •••.••••.•••••••••••••••••

Generation of Servo Signals •••••••••••••••••

Velocity Mode Operation •••••••••••••••.•••••

Po s j t ion Mo de. • • • • • • • . . . • • • • • • • • • • • • • • • • • • • • Guard Band ••.••••.•••..•••.•••••••••••.•..••

MFM Encoding and Precompensation •••••••••••••.

.1-]

1-1 1-3 1-3 1-3 1-3 1-- 3 1-6 1 --r, 1-(-;

]-6

1-'>

1 -1.]

1-14 1-14 1-14 l--lfi l-Hi 1-16 1-17

2-1 2-1

/,-1

2-4 2-4 2-4 2-4 2-4 2-9 2-9 2-9 Bad Sector File ••••••••••••.••••••••••••••••• 2-12 INTERFACE - LEVEL DESCRIPTION

CONTROLLER/DRIVE INTERFACE LINB DESCRIPTIONS •••• 3-1 DRIVE COMMAND WORD •••••••••••••••.•••••••••••••• 3-6 GET STATUS COMMAND RESPONSE ••••••••••••••••••••• 3-7 FUNCTIONAL DESCRIPTION

DEVICE OPERATIONS •••••••••••••••••••••••••••••••

INTERNAL MACHINE CYCLES

. . . . . . . . . . . . . . . . .

iii

4-1 4-1

4.2.1 4.2.2 4.2.3 4.'2.4 4.2.t;

4.2.fi 4.2.7

4.~.8

4.2.9 4.3 4.3.1 4. 3.2 4.3. 3 4.3.4

CHAPTER 5 5.1

5.1.1 5.1.1.1 5.1.1.2 5.1.1.3 5.1.1.4 5.1.2 5.1.2.1 5.1.2.2 5.1.2.3 5.1.2.4 5.1.2.5 5.1.2.6 5.1.2.7 5.1.2.8 5.1.2.9 5.1.2.10 5.1.2.11 5.1.2.12 5.1.2.13 5.1.2.14 5.1. 3 5.1.3.1 5.1.3.2 5.1.3.3 5.1.3.4 5.1.3.5 5.1. 4 5.1.4.1 5.1.4.2 5.1.4.3 5.1.4.4 5.1.4.5 5.1.4.6 5.1.5

Po we r Up ... ~ .. .. .. .. .. .. .. .. •• 4 - 4

Load Cartridge Cycle .•••••••....•••••••••..•.• 4-4 Spin-Up Cycle •••••••••••••••••.••••••••••••.•• 4-7 Brush Cycle ... 4-10 Load Heads Cycle ... 4-10 Seek Cycle ... 4-15 Lo c k On (D e vic e He ad y) • • • • • • • • • • • • • • • • • • • • • • • 4 -1 8 Unload Heads ••.•.•.••••..•.•.•••••••.••••••.• 4-21

S pin - Do wn Cy c 1 e ..."... 4 - 2 1

EXTERNAL DRIVE FUNCTIONS .•.••••.•.••.••••••.••. 4-26 Get Status •..•.•.••••••••••••..••••••••••••.• 4-2G

Seek ... 4-29 Re an Oa t a ... 4 - 3 2 W r ⁱ t e ^D;l t.. a ... ^{4 -} :3 S UNIT - LEVEL DESCRIPTION

DRIVE LOGIC MODULE THEORY OF OPERATION ••••.••••. 5-1 State Control Logic (DL1) •••••••••••••.••••••. 5-1 State ROM ••••••••••••••••••••••••••••• " ••••• 5-1 State ROM Decoder •.••••••.•••••••••••.•••••• 5-2 Seek Cont rol ROM .•••••••••••••••••••..••.••• 5-2 Brush Cycle Latch ••••••••.••••.•••••.•••..•• 5-6 Velocity Command and Status Data Control Logic

(DL2) ••••••••••••••••••••••••••••••••••••••••• 5-8

Device Command/Status Reqister •••.•••...•.•. 5-8 Marker Flip-Flop •••••••••.•.•.•.••••••••.•• 5-10 Marker Latch ••••••••••••••••••••••••••••••• 5-10 Clear Latch •••.••••.••••.••••.••••.•.••••.. 5-10 Load Registers Gate •••••••••••••••••••••.•• 5-11 Shift/Load Gate ••••••••••.•.•••••••••..•••. 5-11 Get Status Latch •••••••••••••••••..••.•..•• 5-11 Status Clock Gate ••.••..••.•.•.•••••.•.•..• 5-11 Track Difference Counter ..••••••••.••••.... 5-11' T r a c k D iff ere n c e Co un t e r Lo a d La t c h •••••••• 5 -1 2 Head Select/Sign Bit Holding Register ••.••• 5-12 Track Count

=

Velocity ROM . . . . Count Log ic (DL3)

. . . . . . . . . . . . . . . . . . . . . . .

Co un t ROM . . . ^{It • •}

El Held Flip-Flop •••..•••••.•..••....•.•..•

E2 Held Flip-Flop ••••••.•..•..•••.••.•.•••.

Veloci.ty Level Detectors •.••..••••.•••.••..

Disable Count 2 Latch ••••••.•••.••••••.•...

Disk Speed Control Logic (DL4) •••••••••••.•.•

Sector Detection Timer ••••••..••••.••••••.•

Disk On Speed Latch ••••••.•••••••••••••••..

Sector Time Latch •••••••.•.•••••••••••.•••.

593 Microsecond Latch

5-13 S-13 1)-17 5-20- 5-20 5-20 5-20- 5-20 5-21 5-21 5-21 Control Speed-up Gate •••••••••••••••••••••• 5-21 Timer and Latch Reset Flip-Flop ••••••..•.•• 5-21 Error Logic (DL5) •••.••••••••••.••.•••••••••. 5-23

5.1.5.1 5.1.5.2 5.1.5.3 5.1.5.4 5.1.5., 5.1.6 5.1.n.1 5.1.6.2 5.1.7 5.1.7.1 5.1.7.2 5.2 5. 2. 1 5.2.2 5.2.3 5. 2.4 5.2.5 5.2.6 5.2.7 5.3 5. 3.1 5. 3. 2 5. 3.3 5.3.4 5. 3.5 5.3.6 5. 3. 7 5. 3. 8 5.4 5.4. 1 5.4.2 5.4.3 5.4.3.1 5.4.3.2 5.4.3.3

SECTION II

CHAPTER 1 1.1

1.1.1 1.1. 2 1.1. 3 1.1. 4

1.2 1. 2. 1 1. 2.2 1.2.2.1

Disk Stopped Timer •••••.•••••••••.••••••••• 5-23 Disk Spinup Timer and Error Latch .••••••••• 5-23 W r i t e Pro tee ^t De tee t ion n n <i Err 0 r La t c h •.•. 5 - 2 3 Clock Error Detector .•••••••••••.••••••••.. 5-23 Write Gate Error Flip-Flop ••••..••••••••.•• 5-23 Interface Logic (DLo and DL8) .••.••.••••.•.•• 5-24 Sector Pulse Detector •...••••••••.•.•••..•• 5-24 Enable/Disable Interface Controls ••••.•.•.• 5-24 Integrator Logic (DL4) •.•.••••••.•••••••••••• 5-25

El and E2 Servo Sample Generation and

In teg rat ion .•..•.•.••....•••..••••••.•.••.• 5-25 Positioner Signal and Ready to Read/Write

Logic . . . 5--2fi DC SERVO AND POWER MODULE ••.••••••••••••.•..•.. 5-30

Voltage Regulators ••••••••••••••••••.••••.••. 5-3~

Overvo1tage Crowbar ••••••••••••••••••••••.••• 5-32 +5 Vo it Disable and Emergency Retract •••••••• 5-32 Undervoltage Detector ••.••••••••••••••••••••• 5-32 Invert/Noninvert Selection Control •••••••.•.• 5-32 Velocity/Positioner Mode Selection Switches •• 5-32 Tachometer Amplifier . . . 5-32 READ/WRITE MODULE •••..•••..••••••.••••••••.•••• 5-33 Head Selection and Steering Circuits . . . :j-33 W r i t e Cur r en t So u r c e and Dr i v e r s . . . 5 - 3 4 Write Data Flip-Flop •••.•••••••••••••••••••.• 5-34 Write Error Detector •••.•••••••••.•••••••.••• 5-34 Current in Heads Detector . . . 5-34 Read Amplifier Circuits . . . 5-34 Zero Crossing Detectors •••..••••.••••••.•.••. 5-34 Ampl i tude Sensor . . . 5--34 AC SERVO MODULE •..•••••••.•....•..•••••.••••••. 5-35 Cartridge Access Door Solenoid •.•••••••.•••.• 5-35 Brush Drive Motor Control ••••.••••••••.•••..•.• 5-35 Spindle Drive Motor Control •••••••••••••.•••••• 5-35 Spin-up State . . . 5-3~

Controlled Speed State •.•••..•••••••••••••••• 5-3~

Sp i n - down S tat e . . . • . . • . . . 5 - 3 6

SERVICING PROCEDURES

MAINTENANCE

MAINTAINABILITY FEATURES ••••••••.••••••••••••••• 1-1 Hardware Maintenance Plan ••••••••••••••••.•• 1-1 Additional Documentation •••••••••••••••••••• 1-1 Field Replacable Units ••••••••••••••••••.••• 1-3 Recommended Spare Parts List •••••••••.••••.• ]-4 SOFTWARE RESOURCES •••••••••••••••••••••••••••••• 1-5 Diagnostics . . . 1-5 Diagnostic Supervisor ••••••••••••••••••••••• 1-5 Hardcore Questions •••••••••••••••••••••• 1-5

v

1.2.2.2 1.2.3.3 1.2.2.4 1.3 1. 3.1 1. 3. 2 1. 3.3 1. 3.4 1. 3.5 1. 3. 6

CHAPTER 2 2.1

2. 2 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.3 2. 3.1 2.3.2 2.4 2.4.1 2.4.2 2.5 2.5.1 2.5.2 2.5.3 2.5.4 2.6 2.n.1 2.6.2 2.6.3 2.6.4 2.7 2.7.1 2.7.2 2.8 2.8.1 2.8.2 2.8.3 2.8.4 2.8.5 CHAPTER 3 3.1

3.2 3.3 3.4

Console Controls Hardware Questions

Software Question •••••

. . . .

MAINTENANCE CONTROLS AND INDICATORS Breaker

Assembly ••••••

LOAD Indicator

3) Switch with READY Power ON/ OFF Ci rcui t

Power Terminal Block RUN/STOP Switch with Unit Select (0, 1, 2,

Indicator

. . . . . . . . . . . . . ^. . .

FAULT Indicator ••.••

WRITE PROTect Switch and Indicator

...

REMOVAL AND REPLACEMENT PROCEDURES INTRODUCTION

FRONT BEZEL AREA

. . . . . ^. . . . . . . . .

Front Be zel .•.••••

Prefilter •••••.

Absolute Filter Front Panel Board Slide Rails ...•••

ACCESS COVERS •.•••••••••••

Fieln Service Access Cover Cartridge Access Cover BRUSH AREA ••••••••••••

B r us h Dr i v e •••••••

Brush Tips

. . . . . . . . .

MODULES ••••••••••••••••••

AC Servo Module •••.•

DC Se rvo Mod ul e

Drive Logic Module •.••.

Read/Write Module •••

SPINDLE AREA •••••••••

· . . .

· ..

· . . .

Spindle Pulley Ground Button Belt from

Spindle

· . . . . . .

Spindle . . . . Sector Transd ucer

POSITIONER AREA •••••••••••••

Positioner ••.•••

Read/Write Heads

REAR PANEL AREA •••••••••

Power Suppl y ••••••

Spindle Drive Belt Po we r Suppl y Fan •••••

Circuit Breaker ••••

· . . . . . . . . . ... . .

· . . ...

· . . . . ... . . .

· .

Spi~dle Drive Motor •••••••••••

· . . . .

CHECKS, ADJUSTMENTS AND ALIGNMENTS INTRODUCTION

. . .

. . . . . ...

• • .f • • •

. .

. ...

VOLTAGE CHECKS •••••••••••••••••

. . . .

SECTOR TRANSDUCER OUTPUT CHECK SECTOR PULSE TIMING CHECK ••••••

1-9 1-9 1-9 1-9 1-9 1-9 1-12 1-12 1-12 1-12

2-1 2-1 2-1 2-4 2-7 2-7 2-7 2-10 2-10 2-10 2-13 2-13 2-14 2-18 2-18 2-18 2-20 2-20 2-24 2-24 2-24 2-24 2-28 2-29 2-31 2-31 2-33 2-33 2-34 2-34 2-40

2-4~

3-1 3-3 3-3 3-4

3.5 3.n 3.7 3.8 3.9 3.10 3.11 3.12 3.13

APPENDIX A A.1

A.1.1 A. 1.2 A. 1. 3 A.1.3.1 A.1.3.2 A.1.3.3 A. 1. 4 A.1.4.1 A.1.4.2 A.1.4.3 A.2 A.2.1 A.2.1.1 A.2.1.2 A. 2. 2, A. 2. 3 A.2.4 A.2.S A.2.6 A.2.7 A.2.7.1 A.2.7.2 APPENDIX B B.l

B.1.1 B.1.1.1 B.1.1.2 B.1.1.3 B.1.1.4

POSITIONER RADIAL ALIGNMENT •••••.••••••••••••••• 3-6 HEAD ALIGNMENT •••••••••••••••••••••••••••.••••. 3-11 READ SIGNAL AM PLITUDE CHECK .••••••••••••••.••.• 3-18 S PI NDLE RUNOUT CHECK .••••••••••••••••••••••.••• 3-20 POSITION SIGNAL GAIN CHECK ••••••••••••.••.••••• 3-22 TACHOMETER AC NOISE PICK-UP CHECK •••••••••••••• 3-25 VELOCITY PROFILE CHECK ••••••.••••••••••••..•••. 3-27 SERVO DRIVE MOTOR CURRENT CHECK .••••••.••..•..• 3-29 ACCESS TIME CHECK ••••.•••••.•••••••••••••..•••• 3-31 REGISTER DESCRIPTIONS

RL11/RLVll ADDRESSABLE REGISTERS ...•••••••..•.•• A-I Control Status Register ...•..••••••••..••• A-2 Bus Address Register ••..•••••••.••••••..•.•• A-5 Dis k Ad d res s Re g i s t e r ..•••.••..•.••••••.•.•. A - 5

Disk Address Register During a Seek

Command ••••••••••••••••••••••••••••••••• P.,,-5

Disk Address R~gister During a Read or

Write Data Command •••.•••.••.•••••••.••. A-6 Disk Address Register During a Get Status

Command . . . A-7

Multipurpose Register ..•••••.••.•..•••••.•.• A-7 Multipurpose Registor Durin0 a Get Status

Command ••••••••••••••••••••••••••••••••• A-7

Multipurpose Register During a Read

Header Command •••••••••••••••••••••••••• A-9

Multipurpose Register During a Read or

Write Command •••••••••••••••••••••••••• A-10 RLS-A ADDRESSABLE REGISTERS ..••.••.•••..•.••••• A-Il Command Register A ••.•••••••••••••••.••••.• A-12

Command Register A During a Seek

Corrunand •••••••••••••••••••••••••••••••• A-12.

Comrnand Register A During a Read or

Write Data Command •••••.•••.•••••••.••• A-12 Command Register B ••••••.•..••.••••••••..•• A-13 Break Memory Address Register •••••••.•••••• A-14 Word Count Register ••.••••••••••••••••••••• A-IS Sector Address Register •.••••••••.••••••••• A-IS Error Register •••.••••••••••••••••••••••••• A-IS Silo Buffer •••••••••••••••••••••••••••••••• A-17

Silo Register After a Get Status

Conunand •••••••••••••••••••••••••••••••• A-17

Silo Data Buffer During a Read Header

Co~mand •••••••••••••••••••••••••••••••• A-19

SUBSYSTEM INSTALLATION PROCEDURES

SITE PREPARATION AND PLANNING ••••••••••.•••••••• B-1 Environmental Considerations .••••••••••••••• B-1 Cleanliness . . . 8-1 Space Requirements .••.•...•••..•.•.••• B-1 Floor Loading •..•.•.•.•..••••••••••••••• B-1 Heat Dissipation .•••••..••••••••••.••••. B-2

vi i

B.1.1.5 B.1.1.6 B.1.1.7 B.1.1.8 B.1.1.9 B.l.1.H' B.1.1.11 B. 1.2 B.1. 3 B.1.3.1 8.1.3.2 B. 1. 4 B.1. 5 B.2 B.3 B.4 8.5 B. 5.1 B.5.2 B.5.3 B.S.4 B.6 B.6.1 B.6.2 P..6.3 8.7 I1.7.1 [-.7.2 B.7.3 B.7.4 B.8 B.8.1 F .8. 2 B.8.3 8.9

APPENDIX C.l

C.2 C.3 C.4 C.S C.6

APPENDIX D.I

D.2

C

D

Acoustics •••• """"""."""."",,.,,.,,.,,""""""" 8-2 Temperature ••••••••••••••••••••••••.•••. 8-2 Relative Humidity ••••••••••••••••••••••• B-2 Altitude""""",,"""""""""""""""""""""""""" B-2 Power and Safety Precautions ••••••.••••• 8-2 R a d i a t ed Ern iss ion s •••••••••••••••.•.•••• B-3 Atti tude/Mechanical Shock •••••••.•..•••• 8-3

O p t i o n s " " " " , , " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " " B-3

AC Power Rpguirements •...••••••••.•..••••• 8-G Standard Applications .•••••••••..•••.•.• 8-6 Optional Applications .•••.••.••••••••.•. B-~

Grounding Requirements ••...•••.•••••••.••••. B-6 Installation Constraints . . • • • . • . . • . . . • • . • . • 8-l~

AC CAB LING " .. ,,"""""""""""""" ^{It • " " " " " " " " " " " " " " " "} " " B-1 0 INSTALLATION - GENERAL . . . . • . • . . • • • . • . . • . • • • • • . . B-13 RL11 CONTROLLER INSTALLATION .•••.•••...••••••.• 8-]3 RLVl1 CONTROLLER INSTALLATION •••.••••••.•.••••• 8-23 8us Interface Module ••..••••••••..••.•.••.• R-23 o r i v e Mu d u 1 e .,,"" ^{<10 " " " " " " " " " " " " " " " " " " " " • " " "} " " B-2 7 Module Slot Location . • . • • • • . • . • • • . • . . . • . . . • 8-27 Module Installation • . . • . . • • • • • . • • • • . . . • • . . • 8-27 RL8-A CONTROLLER INST1,LLATION ••••••••.•.••••..• 8-29 Introduction ••••••••••••••••••••••••••..•.• 8-29 Module Slot Location .••••.•••.•••.•••.•..•. 8-29 Module Installation .••••...•••••••••..••.•• 8-29 RL01/RL02 DISK DRIVE INSTALLATION •••..••••.•••• B-31 Unpacking and Inspection ••••.•..•••••..•••• 8-31 RL01/RL02 Disk Drive Unit Mounting . • • • . . . . • 8-31 Drive Prestart Inspection ••••.•.•••••..•.•• 8-38 Drive Start-up Operation Check . . . ^B-4~?j CONFIDENCE TESTING . • . . • • . • • • . . . • . • • • • • • • • . . • • . • 8-42 RLII-Based Diagnostics ••.••••••••••••.••.•• 8-43 RLVII-Based Diagnostjcs ••••••••••••••••...• B-45 RL8A-Based Diagnostics ••.•.•.••••••.••••..• 8-45 USE OF THE M93l2 BOOTSTRAP WITH AN RLl1

SySTEM .•.••.••••••••.•.•....•••••••••••••...••• 13-48 TOGGLE-IN PROGRAMS

HEAD SELECTION PROGRAM FOR RLl1/RLV1l ••..•••..•. C-1 HEAD SELECTION PROGRAM FOR RL8-A •••••••••••••••• C-2 GET STATUS (WITH OR WITHOUT RESET) ON AN

RLl1/RLVl1 SUBSYSTEM •.•••.•••••••••••.•••.•••••. C-3 GET STATUS ON AN RLB-A ^SUBSYST~M • • • • . . • . . • • . • . • . C-4 OSCILLATING SEEK FOR RLll/RLV11 •.•••••••••.••••• C-5 OSCILLATINd SEEK FOR RL8-A •••••.•••••••••.•••... C-~

RLll CONFIGURATION AND INSTALLATION CONSIDERATIONS SPC CONSIDERATIONS •....•••••••••••••••••••••..•. D-1 CONFIGURATION CONSIDERATIONS •••••••.•••••••• ' .•••• D-2

Figure 1/1-1

1/1-2 1/1-3 1/1-4 I/1-5 I/I-6 1/1-7 1/1-8 1/1-9 1/1-10 1/2-1 1/2-2 1/2-3 1/2-4 1/2-5 1/2-6 1/2-7 1/2-8 1/2-9 1/3-1 I/3-2 I/3-3 1/3-4 I/4-l 1/4-2 1/4-3 1/4-4 1/4-5 1/4-6 1/4-7 1/4-8 1/4-9 1/4-10 1/4-11 I/4 -12 1/4-13 1/4-14 1/4-15 1/4-16 1/4-17 I/4-18 1/4-19 1/4-20 1/4-21 1/4-22 1/4-23

No.

FIGURES

Title Page No.

Typical Disk Drive .••••••••••••••••••••••••••• 1/1-2 Major Subassemblies and Air Flow •••••••••••••• 1/1-4

positioner Assembly ••••••••••••••••••••••••••• 1/1-5 Spindle Assembly •••••••.•••.•••••••••••••••••• 1/1-7 Brush Assembly •••..••••••••••••••••••••••••••• 1/1-8 Read/Write Heads •••••••••••••••••••••••••••••• 1/1-9 Rear Panel Assembly •••••••••••••••••••••••••• 1/1-10 Control Panel . . . I/l-l~

Logic Modules •••••••••••••••••••••••••••••••• 1/1-15 Data Format. . . . 1/1-22 Typical RL01/RL02 Mass Storage Subsystem •••••• 1/2-2 RL01K/RL02K Disk Cartridge Characteristics •••• 1/2-3 Servo Sample Generation ••••••••••••••••••••.•• 1/2-6 Servo Data Waveforms •••••••••••••••••••••.•••• 1/2-7 Generation of E1 and E2 ••••••••••••••••••••••• 1/2-8 Servo Data Pattern ••••••••••.•••.•••••••••••• 1/2-10 MFM Encoding ••••••••••••••••••••••••••••••••• 1/2-11 MFM Precompensation •••••••••••••••••••••••••• 1/2-13 Bad Sector File .••.•••••••••••••••••••••••••• 1/2-14 Control Unit/Drive Interface Lines ••••.••••••• 1/3-2 Drive Command Word Configuration •••••••••••••• 1/3-8 Relationship Between System Clock

and Drive Command Word Bits ••••••••.•••••••••. 1/3-9 Drive Status Word ••••••••••••••••••••••••.••• 1/3-10 Dis k Dr i ve De t ail ed Bloc k D i a gram ••••••.•..••• I / 4 - 3 Device Startup - Load Cartridge Cycle ••••••.•• 1/4-5 Device Startup - Load Cartridge Timing •••••.•• 1/4-6 Device Startup - Spin-up Cycle •••••••••••...•• 1/4-8 Device Startup - Spin-up Cycle Timing •.••••••• 1/4-9 Device Startup - Brush Cycle •••••.•••••••..•• 1/4-11 Device Startup - Brush Cycle Timing •••••••••• 1/4-12 Device Startup - Load Heads Cycle ••••••..•.•• 1/4-13 Device Startup - Load Heads Cycle Timing •••.• 1/4-14 De vic eSt art u p - See k Cy c 1 e •••••••••••••••••• 1/4 - 1 6 Dev ice Startup - Seek Tim ing •••••••••••.••..• 1/4-17 Device Startup - Lock on Track 0 •••••.••••.•• 1/4-19 Device Startup - Lock on Track 0 Timing •••••• 1/4-20 Device Startup - Unload Heads •••••••••••••••• 1/4-22 Device Startup - Unload Heads Timing ••••••••• 1/4-23 Device Startup - Spin-Down ••••••••••••••••••• 1/4-24 Device Startup - Spin-Down Timing •••••••••••• 1/4-25 Get Status - Functional Block Diagram •••••••• 1/4-27 Drive Command Word During Get Status ••••••••• 1/4-28 Seek Functional Block Diagram •••••••••••••••• 1/4-30 Drive Command Word During Seek ••••••••••••••• 1/4-31 Read Data - Functional Block Diagram ••••••••• I/4-34 Write Data - Functional Block Diagram •••••••• 1/4-36

ix

1/5-1 1/5-2 1/5-3 1/5-4 1/5-5 1/5-6 1/5-7 1/5-8 1/5-9 1/5-10 1/5-11 1/5-12 11/1-1 11/1-2

11/2-1 11/2-2 11/2-3 11/2-4 I I /2- 5 11/2 -fl

11/2-7 11/2-8 II/2-9 11/2-10 11/2-11 11/2-12 11/2-13 11/2-14 11/2-15 11/2 -16 11/2-17 11/2-18 11/2-19 11/2-20 11/2-21 11/2-22 11/2-23 11/2-24 11/2-25 11/3-1 11/3-2 , II/3-3 11/3-4 11/3-5 11/3-6 II/3-7 11/3-8 11/3-9

State Control ROM Addressing .••••••••••••••••• 1/5-3 State ROM Command Decoding Scheme ••••••••..••• 1/5-4 Velocity Commands 1 and 2 Decoding Scheme •.••• 1/4-5 Seek Control ROM Addressing ••••••••••••••.•••• 1/4-7 Drive Command and Status Control Timing ••••••• 1/4-9 Velocity ROM and Velocity Command Generation • 1/4-14 Count ROM Logic ••.••••••••••••••••••••••••••• 1/4-16 Sector Detection and Speed Control Timing •••• 1/4-22 Servo Data and Integrate Enable Waveforms •••• 1/4-27 50% and 75% Duty Cycle Integration ••••••••••• 1/4-28 In t e g rat 0 r Log i c W a v e form s ••••••••••••••.•••• I /4 - 2 9 Ready to Read/Write Generation ••••••••••••••• I/4-3l Disk Drive Controls and Indicators

(Front Panel) ••••••••••••••••••••••••••••••• 11/1-10 Disk Drive Controls and Indicators

(Rear Panel) •••••••••••••••••••••••••••••••• II/I-II Removal and Replacement Sequence Flow Chart •• 11/2-2 Front Bezel . . . 11/2-3 Absolute Filter Access .•••••••••••••••••••••• 11/2-5 Absolute Filter ..•....••.••..•••••••••.•••••. 11/2-~

Front Panel Printed Circuit Board •••••••••••• 11/2-8 Slide Rails ••••••••.•••.••.•.•••••••.•••••••• 11/2-9 Field Service Access Cover .•••••.•••.••••••• 11/2-11 Module Location •....•.•••••••..••••••••••••• 11/2-12 DC Servo Module •••••••••.•.•••••••••••••••.• I1/2-15 Exposed Drive Baseplate •••.••••••••••••••••. T1/2-16

Exposed Brush Drive Assembly ••.••••••••••••. II/2-]7 AC Servo Module .•.•.••.•••••.••.•••.••.••••• II/2-l9 Read/Write Module (Upright) ••.••••••.••.•••• 11/2-22 Read/Write Module Box Disassembly ••••••••••• II/2-23 Spindle Access Cover •••••••••••••••••••••••• 11/2-25 Spindle Ground Button ••••••••••••••••••••••• 11/2-26 Sector Transducer Mounting •.•••••••••••••.•• II/2-27 Positioner Assembly ••••••••••••••••••••••••• 11/2-30 Read/Write Heads •••••••••••••••••••••••••.•• 11/2-32 Rear View of Drive •••••••••••••••••••••••••• 11/2-35 Rear Panel Assembly ••••••••••••.•••••••••••• 11/2-36 Drive Motor Mounting •••••••••••••••••••••••• 11/2-37 Drive Belt Tension •••••••••••••••••••••••••• 11/2-39 Circuit Breaker ••••••••••••••••••••••••••••. 11/2-41 Drive Motor Assembly Technique •••••••••••••• 11/2-42 Drive Logi~ Module Layout •••••••••••••••••••• 11/3-2 Sector Transducer Output ••••••••••••••••••••• 11/3-5 Sector Pulse Timing •••••••••••••••••••••••••• 11/3-7

Positioner and Read/Write Module Box

Assembly ••••••••••••••••••••••••••••••••••.•• T1/3-8 Servo Bursts and Sector Pulse ••••••••••••••• 11/3-10 positioner Assembly ••••••••••••••••••••••••• 11/3-12 Servo Bursts and position Signal •••••••••••• I1/3-l5 Outer Guard Band Servo Data ••••••••••••••••• II/3-16 position Signal •.•••••..•.•••.•••••••••••••• 11/3-21

II/3-10 11/3-11 11/3-12 11/3-13 II/3-14 11/3-15 11/3-16 8-1 8-2 8-3 8-4 8-5 8-6 8-7 8-8 8-9 8-10 8-11 8-12 8-13 8-14 8-15 8-16 8-17 8-18 8-19 B-20 8-21 B-22 B-23 8-24

Position Signal Gain Check Waveforms •••••••• 11/3-24 Summing Ampl ifier Output ••••••••••••• ' ••••••• II/3-26 Tachometer Output Velocity Signal ••••••••••• 11/3-28 positioner Motor Current Check •••••••••••••• 11/3-30 Access Time Chec k (One Tr ack See k) •••••••••• 1 I /3-3 2 Access Time Check (85 Track Seek) ••••••••••• II/3-34 Access Time Check (255 Track Seek) •••••••••• I1/3-35 RL01/RL02 Disk Drive - Rear View ••••.••••••••.•• B-7 Approved Electrical Plugs and Receptacles ••••.•. B-8 Power Panel Grounded to Building Frame •••••••.•• B-9 Power Panel Grounded to Metal Plate •••••••••••• 8-11 Typical ;;0 Hz Power System •••.••••••••••.••••.• 8-12 Typical 50 Hz Power System ••••••••••••••••••.•. 8-14 Split Phase (2-Phase) Power System •••••••••..•• B-15 Th ree Phase Y Power System ••••••••••••••••.•••• 8-16 RL11 Component Layout •••••••••.••••••••••..•••• 8-17 RLl1 8ase and Vector Address Jumper

C6nfiguration ••••••••••••••••••••••.••.•.••.••• 8-20 RLll Priority Jumper Assembly Connections •••••• B-21 RLll Controller Installation ••.••.••••••••.•••. 8-22 RLV11 Bus Interface Module (M8014)

( Co m po n en t Sid e ) ••••••••••••••••••••••••••••••• B-2 4 RLV11 Base Address Switch Settingss ••••••••••.• B-25 RLVl1 Vector Address Switch Settings ••••••••••• 8-20 RLVl1 Drive Module (M8013) ••••••••••••••••••.•• B-28 H9273 Backplane Grant Priority Strl1cture ••.•••• B-28 RL8-A Jumpers •••••••••••••••••••••••••••••••••• B-30 H950 Shipping Package •••••••••••••••••••••••.•• B-32 RL01/RL02 Cabinet Installation ••••••••••••••••• B-34 RL01/RL02 - Covers Removed ••••••••••••••••••••• B-36 RL0l/RL02 Disk Drive - Rear View ••••••••••••••• 8-37 RL01/RL02 Disk Drive - Front View •••••••••••••• 8-39 RL01/RL02 Disk Drive - Exposed Drive Logic

Module . . . • . . . • . . . • . . . • . . 8-41

xi

Table I/l-l I/I-2 1/1-3 I/I-4 1/3-1 I/3-2 1/5-1 1/5-2 1/5-3 1/5-4 II/1-1 1I/1-2 I I/1-3 11/1-4 II/I-5 11/3-1 11/3-2 A-1 A-2 8-1 8-2 8-3 8-4 8-5 8-6 8-7 8-8 8-9 8-10 8-11 8-12

No.

TABLES

Title Page No.

RL01/RL02 Subsystem Documentation •••••••••••• 1/1-16 RL01/RL02 Disk Drive Physical and

Environmental Specifications •.••••••••••••••• 1/1-18 RL01/RL02 Disk Drive Operational

Specifications .••••••••••••••.•..••.••••••••• 1/1-21 RL0lK/RL02K Disk Cartridge Specificntions •••• 1/1-23 Drive 8us Interface Lines •.•.••••••••••••••••• 1/3-3 Drive Status Word •••••••••••••••••••••••••••• 1/3-11 Velocity ROM Addressing •••••••••••••••••••••• T/5-15 Track Count vs. Servo Samples and Direction •• 1/5-18 Distance and Velocity Thresholds ••••••••••••• 1/5-19 Count ROM Map •••••••••••••••••••••••••••••••• I/5-19 RL01/RL02 Documentation •••••••••••••••••••••• 11/1-2 FRU Part Numbers and Interchangeability •••••• 11/1-3 Recommended Spare Parts List ••••••••••••••••• II/1-4 Diagnostic Supervisor Commands ••••••••••••••• 11/1-6 Command Parameters ••••••••••••••••••••••••••• 11/1-7 Service Jumpers for Drive Logic Module ••••••• I1/3-1 Method for Selecting Heads ••••••••••••••••••• 11/3-3 Controller Addressable Registers •••••••••••••••• A-I RL8-A Instruction Set •••••••••••••••••••••••••• A-l1 Saleable RL0l/RL02 Subsystem Options •••••••••••• 8-4 Saleable Cabinet Options •••••••••••••••••••••••• B-5 Diagnostic Catalogs and Indexes •••••.•••••••••• 8-42 RL1l-8ased Diagnostics ••••.•••••••••••••••••••• B-43 RL11 Diagnostic Kit Numbers •••••••••••••••••••• 8-43 RL11 Diagnostic Components .•••••••••••••••••••• 8-44 User Documents •••••.••••••••••••••••••••••••••• 8-45 RLV11 Di ag nost ic Components •••.•••••••••••••••• B-46 RL8/RL01 Diagnostic Components ••••••••••••••••• 8-46 RL8/RL01 Diagnostic Kits •••.••••.•••••••••.•••• 8-46 RL8/RL02 Di agnostic Ki ts ••••••••••••••••••••••• 8-47 RL8/RLI2I2 Diagnostic Components ••••••••••••••••• 8-47

SECTION 1 TECHNICAL DESCRIPTION

1.1 GENERAL DESCRIPTION

CHAPTER 1 INTRODUCTION

The RL~1/RL02 Disk Drive is a random access mass storage device.

Both drives utilize a removable, single platter top-loading disk cartridge. The RL~IK cartridge provides five million bytes of storage, and the RL~2K cartridge will hold ten million bytes. Up to four RL01 or RL02 Disk Drives may be used per controller to provide up to 40 million bytes of storage for PDP-S, PDP-II, and LSI-ll computer system applications.

The RL01/RL02 Disk Drive (Figure 1-1) is mounted on slides and is 26.6 cm (1~.5 in) high, 63.5 cm (25 in) deep (compatible in width to a 19 inch RETMA rack) and weighs 34 kg (75 lbs).

Operating controls and indicators plus a removable ctir fil':.er are located at the front of the drive. Access to thE:: cartrilige is provided by a lift-up cover incorporating a safety interlock. All servicing can be achieved from the top of the drive or front or rear of the corporate cabinet.

RL~I/RL02 Disk Drives are shipped from the factory as 115 Vac/6~

Hertz units. Field ·change to 230 Vac/50 or 60 Hertz is accomplished by reversing either of two terminal block covers located externally at the rear of the drive. The line cord plug may be cut and replaced with an applicable 23~ Vac .line plug. The RL01/RL02 Disk Drive is UL listed and CSA certified.

Interlocks are provided where the potential exists for damage to the drive, media, operators, or service personnel.

The RL01/RL02 Disk Drive provides high field performance and maintainability. The drive is designed for easy removal and replacement of logic and electromechanical subassemblies to result in an average replacement time of not more than 15 minutes.

Special tools and alignment packs or fixtures are not required for on-site maintenance. Only two adjustments are required under normal service conditions. All logic. modules are placed so that they may be accessed without the use of extenders.

1.1.1 Servo-In-Data Concept

Key to the performance of the RL01/RL~2 is the servo-in-data concept. The concept allows the derivation of head positioning and track counting information from pulses imbedded within the data track. Each read/write head seeking to a desired track becomes its own servo transducer. Data tracks could conceivably be loca ted wi thin a band anywhere on the recordable disk surface as long asthe positioner does not run out of travel limits. Since the heads seek and center on data tracks, environmental problems related to mechanical drift and tolerances become practically nonexistent. Precise head alignment requiring the use of special fixtures is unnecessary.

Figure 1-1

TYPl

1.1.2 Storage Medium

The RL"IK or RL02K Disk Cartridge is a modified 5440 type removable, top-loading, single platter cartridge with 256 discrete data tracks on each of the two reco rd i ng sur faces. The Cil r tr idg e armature plate contains 4" sector slots, defining 40 sectors per track. Servo information (servo-in-data) from which sector and track determinations are made is prerecorded on the cartridge at the factory and cannot be reformatted in the field. Bad sector information is contained on the last data track.

RLelK and RL~2K cartridges are intended as a means of data i nte rchange between compu ter sys tems • Data wr it ten on one RL01 Disk Drive will be readable on any other RL01 drive, and the same is true for any two RL02 drives, provided that both drives have been properly maintained and that the computer systems and controllers are compatible wi th respect to word length. Note, however, that an RunK cartridge cannot be used on an RL02 drive, nor can an RL02K cartridge be used on an RLel drive. While either cartridge will physically fit into either drive, the results of usi.ng the wrong cartridge are unpredictable. The cartridge are color keyed and labeled to help prevent incorrect use.

1.1.3 Mechanical partitioning

Figure 1-2 shows location of the major drive subassemblies and air flow through the drive chassis.

1.1.3.1 Air Flow System - The RUn/RL~2 Disk Drive is desiC)ned to achieve maximum protection of the head/disk interface even in a contaminated environment. The air flow system (Figure 1-2) is separated into a recirculating clean air supply and a cooling air supply. The cooling air is drawn in through the bezel and is exhausted out the rear of the drive by a muffin fan. The recirculating clean air is moved through the duct system by an impeller attached to the spindle drive motor. Before the clean air is recirculated to the disk cartridge, the duct system routes it through a high efficiency filter and a heat exchanger. The heat exchanger is cooled by the cooling air supply.

1.1.3.2 Air Filter - The absolute air filter is a self-contained throwaway unit. Because of the two air systems, .f.!ti2+~c.e.IJl~D,.t_.,..QJ: ... , the absol ute filter. is on1~~,.Le9.uwLr .. ~~_~.!L,~ ... ~~.I,l.J?'~.s} .. ~.

1.1.3.3 Positioner Assembly - The positioner assembly consists of a ca r r i age, se rvo mo tor wi th capstan and tens ion cable, linea r

tachometer, head load cam, and home switch. The magnetic read/write heads are mounted on the carriage. Figure 1-3 illustrates the principle components of the positioner assembly.

The positioner subplate can be moved laterally to align head access radially to the disk.

SASEPlAT£ ANO SHEET METAl CHASSIS

LE TO OPERATOR PANEL

OUCnNG OF COOLING AIR INTAKE IN BEZEL C'Z-1000

Figure 1-2 Major subassemblies and Air Flow

THESE 2 SCREWS ARE NEAREST THE MOTOR

SHAFT AND ARE THE LONGEST OF THE SIX MOUNTING

SCREWS. ~-~

HEADS HOME SWITCH

POSITIONER ADJUSTING SLOT

! ^,

I ~

Figure 1-3 Positioner Assembly

POSITIONER ADJUSTING SLOT

CZ-1079

1.1.3.4 Spindle Assembly - housing, the rotating cartridge button, and the drive belt.

Assembly.

The Spindle Assembly comprises a interface hub, the, spindle ground Figure 1-4 shows the Spindle

The sector transducer mounts and aligns itself on the spindle housing.

The disk cartridge interfaces the spindle via a cone located in the center of the spindle, a 14.0 cm (5.5 in) diameter stabilizing hub, and a hold-down magnet.

1.1.3.5 Brush Drive Assembly - The RL01/RL02 Disk Drive has motor-driven cleaning brushes (refer to Figure 1-5) which automatically sweep across the disk surfaces each time the spindle drive motor is started. The brush cycle must be completed and the brushes retracted before the heads will load. In order to prevent damage to the read/write heads and cartridge, the cartridge access cover remains interlocked so that the cartridge cannot be removed in the event that the brushes fail to return to their home position. The brush holder assembly is a field replaceable unit.

1.1.3.6 Read/Write Heads - Each head (Figure 1-6) is made up of a magnetic core structure mounted in a ceramic slider pad and is supported on an arm. Each head is also provided with a flexible cabl e tha t term ina tes wi th a connec to r • When both head s are loaded and positioned with the disk rotating at 2400 I 2% rpm, each head is supported by a boundary layer of air approximately 50 microinches thick. The "up" head is used for reading and writing data on the bottom surface (surface 1) of the disk and the "down"

head is used fo r read ing and wr i t ing data on the top su r face (sur face ") of the disk. Each head is loaded and unload ed from the rotating disk by the force of a cam against the 30 degree ramp in the head arm.

The heads operate at 4.1 megaf1ux-reversa1s per second using the Modified Frequency Modulation (MFM) method for or decoding data. This corresponds to a maximum density bits per inch on the inner track (track 255, decimal).

max imum encoding of 1725

1.1.3.7 Read/Write Board - The read/write board is contained in a subchassis to provide shielding for the logic.

1.1.3.8 Power Panel - The removable rear panel of the drive contains a muffin type fan, I/O connectors, an ac circuit breaker, an RFI filter, the spindle motor capacitor, the ac terminal assembly block and the ac servo module chassis. Refer to Figure 1-7. The ac circuit breaker provides power ON/OFF control for the drive and is normally left in the ON position.

1/1-6

Figure 1-4 Spindle As sembly

_SPINDLE ASSY

MA·1588

CZ·l002

Figure 1-5 Brush Assembly I/1-8

UPPER HEAD

LOWER HEAD LOCATING PIN

LOWER HEAD

/

Figure 1-6 Read/Write Heads

CZ-l003

1

1 4 - - - - R E A R POWER PANEL ASSEMBLY

CZ-001S -

Figure 1-7 Rear Panel Assembly

1.1.3.9 Control Panel - The operator's control panel is located at the front of the drive. The following push on/push

alternating action switches and indicators are located on drive control panel (Figure 1-8):

• Run/Load switch with LOAD indicator

• Unit Select switch with READY indicator

• FAULT indicator

• Wri te Protect swi tch wi th WRITE PROTect ind icato r Run/Load Switch with LOAD Indicator

off the

This push on/push off alternating action switch, when depressed, energizes the spindle motor providing the following conditions have been met:

• The disk cartridge has been installed

• The cartr idge protection cover is in place and the cartridge access cover is closed and latched

• All ac and dc voltages are within specifications

• The read/write heads are home

• The brushes are home

When thi s swi tch is rel eased (depressed a second time), the spindle drive motor is deenergized if the read/write heads are not loaded. If the heads are loaded, they are retracted before the spindle drive motor is deenergized. In the event of a main power interrupt and subsequent power restoration, the drive will cycle up again if the switch is depressed since it contains mechanical memory.

The LOAD enable indicator is i 11 urn i na ted whenever:

•

•

•

•

LOAD SWITCH AND INDICATOR

UNIT SELECT PLUG AND READY INDICATOR

WRITE PROTECT SWITCH AND INDICATOR

Figure 1-8 Control Panel I/1-12

CZ·l006

Unit Select (O, 1, 2, 3) Switch with RE~DY Indicator

The unit select switch is a cam operated switch which is actuated by inserting a numbered, selectively cammed button.

The switch contacts are binary encoded so the drive interface logic recognizes the matching controller generated drive address code and the corresponding unit select number (O, 1, 2 or 3).

The numbered indicator, when lit, indicates a drive READY condition. This condition exists when:

• The spindle is up to speed

• The brushes are home

• The read/write heads are loaded

• The heads are detented on a specific track

F~ULT Indicator

The FAULT indicator is lit whenever the following fault or error conditions develop in the disk drive:

• Drive Select Error

• Seek Time Out Error

• Write Current in Heads During Sector Time Error

• Loss of System Clock

• Write Protect Error

• Write Data Error

• Spin Error

WRITE PROTect Switch and Indicator

This alternating action push on/push off switch, when de- pressed, sets the d rive in wr i te protect mode whethe r 0 r no t the Write Gate line is asserted (refer to interface line descr i pt ions) • r'f the Wr i te Gate 1 ine is asser ted when WRITE PROTect is on, the drive will generate a Write Gate error

(wh ich will 1 ight ^F~ULT). The wr i te protec t mode will be immediately removed upon release of the switch.

1.1.4 Drive Electronics Partitioning

A la rge percentag e of the d rive elect ron ics is con ta i ned on the drive logic module. Additional electronics are on these modules:

• The dc servo module

• The ac servo module

• The read/write module

This design concept enhances the module-swap maintenance philosophy.

The drive logic module, mounted inside the of the drive, is a single hex-sized board.

detached and positioned vertically on the plate. Refer to Figure 1-9.

rear cover at the top The rear cover can be rear edge of the base Opening the rear cover exposes the read/wr i te module and the dc se rvo mod u1e. Both the read/wr i te mod ule and dc se rvo mod ul e ca n be placed on their sides to allow easy access to the positioner assembly, module chips and test points. Refer to Figure 1-9. The ac servo module is located on the removable power panel. Refer to Figure 1-9.

1.1.4.1 Drive Logic Module - The drive logic module provides the drive with the following functions:

• Interface to the controller via a 4~ pin PC-mounted connector and flat ribbon cable

• Interface enabling and control circuits

• State control logic (load/run sequencing)

• Seek control and track counting logic

• Device command/status register

• positioner velocity command generation

• Disk drive motor speed control

• Error detection and status data generation

• Servo data detection logic 1.1.4.2

positioner reg u1ators into the mechanical

DC Servo Module - The dc servo module con ta ins the servo amplifier and dc voltage regulators. The voltage are mounted on a U-shaped heat sink which faces down cooling air chamber. This module also serves a function in that it seals a portion of the cooling air system from the clean air system.

1/1-14

R/W MODULE

DRIVE LOGIC _ _ --iii--lr_-.-_ _ _ _ _ ..

MODULE

II ~

AND TEMPLATE

CZ-0011

1.1.4.3. AC Servo Module - The ac servo module provides the following functions:

• Control circuits for the brush motor

• Control circuits for the spindle drive motor

• Cover solenoid drive circuit

1.1.4.4 Read/Write Module The functions provided by the read/write module are:

• Servo and reArl data prenmplifier, filters, differentiator and limiter

• Head selection

• Write drivers and write current sensing

• Write error sensing 1.1.5 Documentation

Table 1-1 lists the docunents that will be available to describe the RL0l/RL02 Subsystem.

Hard copy user documentation consisting of the RL01/RL02 Disk Subsystem User's Guide (which contains operation ana installation

information) will ship with each subsystem.

Table 1-1 RL01/RL02 Subsystem Documentation Title

RLVll Controller Technical Description Manual

RLII Controller Technical Description Manual

RL8A Onnibus Controller Technical Manual

RL0l/RL02 Preventive Maintenance Procedures

RL0l Illustrated Parts Breakdown RL02 Illustrated Parts Breakdown RL0l/RL02 Disk Subsystem User's

Guide

Microfiche Number EP-RLVll-TD EP-OQLll-TD EP-iJRLRA-T"1 EP-0(HHJ8-PM EP-""0l6-IP EP-0CHH6-IP N/A

RL0l/RL02 Pocket Service Guide N/A 1/1-16

Hard Copy Number

EK-RLVll-TD EK-0RLll-'l'!) EK-0RL8A-R

r"

EK-RL0l2-P"1 EK-0RL0l-IP EK-CRL02-IP EK-RUH2-UG EK-RL0l2-PG

1.2 SUBSYSTEM SPECIFICATIONS

This section provides the following specificataion ,for the ^RLAI and RL~2 Disk Subsystem:

• Table 1-2: RL~1/RLe2 Disk Drive Physical and Environmental Specifications

•

• Table 1-4: RL~1K/RL"2K Disk Cartr idge Operational Specifications

Table 1-2

Width Depth Height Weight Mounting

Power Sources

Input Power Power Facto r Starting Current

RL01 Disk Drive Physical and Environmental Specifications

Compatible with 19 inch RETMA rack 63.5 cm (25 in) behind bezel

26.5 cm (10.5 in) 34 kg (75 Ibs)

The drive mounts on chassis slides.

90-127 Vac (47.5-63 Hz) 180-254 Vac (47.5-63 Hz)

(Manually selectable)

200 watts maximum at 115 Vac, 60 Hz Greater than 0.85

3.5 amps RMS maximum

@ 90 Vac/47.5-63 Hz 5.0 amps RMS maximum

@ 127 Vac/47.5-63 Hz 1.75 amps RMS maximum

@ 180 Vac/47.5-63

Hz

2.5 amps RMS maximum

@ 254 Vac/47.5-63 Hz

Power Cord and Connector: A molded line cord compatible drive operating voltage and Power Control for 120 Vac is to the drive.

wi th the the 861 attached

Safety

Interlocks

The power cord is 2.74 m (9 ft) long and the plug is NEMA 5-15P.

The 230 Vac plug to be attached to high voltage drives is NEMA 6-15P.

The RL01/RL02 Disk Drive is UL listed and CSA certified.

Interlocks are used where potential exists for damage to dr ive, media, operators or service personnel.

I/l-l8

Temperature/Humidity

Altitude

Shock

Vibration

Operating:

T em pe rat u r e : l^{llo I:J} C (104⁰ F).

5.9⁰ C/1fl1XflI m (l.So Derate Temperature vv~

C/1000 ft)

Relative Humidity: 10% to 60% with maximum wet bulb 2S o C (S2 F) and minimum dew point 2 0 C (36 0 F).

Non-Operating:

Tern pe rat u r e : -40 0 C ( - 40 0 F) to 6 6⁰ C (151⁰ F)

Relative Humidity: 10% to 95%

Operating: 2440 m (S,000 f) maximum.

Non-Operating: 9.1 km (30,000 f) maximum.

Operating: Half sine shock pulse of 10 Gpk and 10 +3 msec duration applied once in either direction of three orthagonal axes (3 pulses total).

Non-Operating: Half sine of 413 Gpk and 30 +10 perpendicular to each of surfaces.

Operating:

shock pul ses ms duration six package

Sinusoidal vibration (sweep rate 1 octave/min)

5-513 Hz 513-500 Hz 500-50 Hz 50-5 Hz

0.002" DA 0.25 Gpk 0.25 Gpk 0.002" DA Non-Operating:

Vertical Axis Excitation - 1.40 Grms overall from 10 to 300 Hz. Power spectral density 0.029 g/Hz from 10 to 50 Hz with 8 dB/octave ro110ff from 50-300 Hz.

Dust

Attitude

Heat Dissipation

Longitudinal and Lateral Axis Excitation - 0.68 Grms Overall from 10 to 200 Hz. Power spectral density 0.007 glHz from 10 50 Hz with 8 dB/octave rolloff from 50 to 200 Hz.

The drive will operate in an ambient atmosphere of less than 5 million particles 0.5 microns or larger per cubic foot of air. The driVE; is intended to run in a light industry (or cleaner) environment.

Maximum pitch: +5 degrees Maximum roll: ±5 degrees 546 BTU/hour maximum

I/1-20

Table 1-3 RL0l/RL02 Disk Drive operational Specifications General

Transfer Rate Bit Rate:

(unbuffered values)

Latency

Seek Time

Start/Stop Time

Linear bit density: 147 bits/mm (3725 bits/in) at innermost track

16 bit words per sector: 128 Number of sectors: 4~/track

Track density: 4.9/mm (125/in) for RL01K, 9.S/mm (250/in) for RL132K

Number of recording tracks: 256/surface for RL131K, 512/surface for RL02K

Number of surfaces: 2

Formatted capacity (megabytes): 5.2 for RL01K, 113.4 for RL02K

Encoding method: MFM 4.1 megabits/sec +1%

Bit Cell Width: 244 nsec +1%

Words (16 bit): 256 kilowords/sec +1%

Rotational Frequency: 241313 rpm +13.25%

Average latency: 12.5 msec +~.25%

Maximum latency 25.13 msec ~~.25%

Average seek time 55 msec max (85 tracks for RL13l, 1213 tracks for RL132)

One cylinder track 5 msec max seek time

Maximum seek time 10~ msec max

(256 tracks for RL01, 512 tracks for RL132)

Head switch time 8 msec Start time:

Stop time:

45 seconds 313 seconds

H

"'-_I-'

I tv tv

r

-I-

--i t--

SECTOR N + ^{1 (625 #L}S ) - - - -...

"1

J---'----_ _ _ _

1 ~ ____________ ~I-~L

SV PRl HDR POl PR2 DATA

WORD 1 WORD2

SEC- H

TOR S CYLINDER 0 ALL O·S

o 567

PRl & PR2 PREAMBLES

POl & P02 POSTAMBLES

SV

SERVO DATA

14 15

SYNC' 81T

1

3WORDS

16 "0·· BITS 1 WORD

= 62.5 ILS

P02 SV PRl HDR POl PR2 DATA

HEADER CRC 128 DATA WORDS

PRl 3WORDS

HDR 3

POl 1

PR2 3

DATA 129

P02 1

140WORDS

Figure 1-19 Data Format

P02

DATA CRC

CZ·1006