Hard Disk Drive Module and Receptacle Therefor

This application is related to the following applications owned by the assignee of the present application:

(1) Application Ser. No. 759,900 filed July 29, 1985 for "Storage Media Transducer Loading/Unloading And Carriage Lock Mechanism", now abandoned;

(2) Application Ser. No. 896,762 filed Aug. 14, 1986 for "Mechanism For Preventing Shock Damage To Head Slider Assemblies And Disks In Rigid Disk Drive", now U.S. Pat. No. 4,724,500 issued Feb. 9, 1988;

(3) Design application Ser No. 019,551 filed Feb. 26, 1987 for "Hard Disk Drive Module";

(4) Application Ser. No. 159,709 filed Feb. 24, 1988 for "Storage Media Transducer Loading/Unloading And Carriage Lock Mechanism", a continuation-in-part of Ser. No. 759,900;

(5) Application Ser. No. 160,501 filed Feb. 25, 1988 for "Disk Drive Controller system";

(6) Application Ser. No. 162,948 filed Feb. 25, 1988 for "Disk Drive Controller System"; and

(7) Application Ser. No. 163,183 filed Feb. 25, 1988 for "Storage Media Transducer Loading/Unloading And Carriage Lock Mechanism", a continuation of Ser. No. 759,900 and now abandoned.

The present invention relates generally to Winchester or hard disk drives utilized in computer systems and particularly to removable, portable hard disk drive modules interchangeable between computer systems.

Hard disk drive systems, also called Winchester drives, have one or more rigid disks rotatably mounted inside a case or "clean chamber" sealed to keep out dust and other foreign matter. Hard disk drives, in contrast to floppy disk drives, are characterized by their high storage capacity and speed of access to stored information.

For several reasons, it is desirable to provide for the removability of the disks by the computer user, and to permit the disks to be interchangeable between computer systems. For one thing, the security of the stored information can be better preserved. Removable and interchangeable hard disks can also serve as backup memories with storage capacities and access speeds unattainable with floppy disks or magnetic tapes.

One approach to hard disk removability and interchangeability is the hard disk cartridge. The disk is enclosed within a housing which, when the cartridge is installed, provides access for the disk drive spindle and read/write head assemblies. Conceptually, this approach resembles that of the floppy disk drive. However, because these hard disk cartridge systems do not have sealed disk chambers and due to handling of the cartridge, the disks and read/write heads are often exposed to unacceptable levels of contamination. Moreover, because the disk is removably coupled to the drive spindle, the required precise, reproducible centering and positioning of the disk relative to the head carriage assembly are difficult to achieve.

U.S. Pat. Nos. 3,849,800 and 4,034,411, issued to IBM, and IBM Technical Disclosure Bulletin, Volume 20, No. 10, March 1978, pp. 4104-05, disclose removable and interchangeable disk file modules which are sealed and enclose the disk and the head carriage assembly. The disk is mounted on a spindle one end of which projects from the module for coupling to a drive motor. These removable disk files do not incorporate components such as the spindle drive motor and therefore require both mechanical and electrical connections with the remainder of the computer system.

U.S. Pat. No. 4,062,049, issued to Burroughs Corporation on Dec. 6, 1977, discloses a self-contained, replaceable and interchangeable "disk file module" requiring only an electrical connector and no external mechanical couplings. The disk file of U.S. Pat. No. 4,062,049, among other drawbacks, is a relatively large, heavy unit utilizing 14-inch disks, is inserted and withdrawn from a mounting rack manually and may be removed while the disk drive is in operation.

In accordance with an exemplary embodiment, the present invention provides a microcomputer system which includes a portable hard disk dive module enclosing all of the operative components of the drive including at least one hard disk, at least one read/write head operatively associated with the disk for transferring data to and from the disk, a spindle and spindle motor coupled to the disk for rotating the disk, a mechanism for positioning the transducer along the disk and electronic circuits connected to the foregoing components. The module includes an electrical connector coupled to the mentioned circuits.

The preferred embodiment of the invention utilizes a micro hard disk drive, also known as a 31/2" Winchester drive, thereby providing a lightweight, compact, readily transportable unit.

Another aspect of the present invention relates to the receptacle, forming part of the system, for receiving the module. The receptacle has an electrical connector connected to the disk drive power, data and control circuits forming part of the microcomputer system. The receptacle further includes a mechanism for transporting the disk drive module from a module load position to a module operating position and from the operating position to a module unload position. The module and receptacle electrical connectors are adapted to be connected when the module is in the operating position, these connectors comprising the sole interface between the operative components of the disk drive and the remainder of the microcomputer system. The module transporting mechanism is actuated to transport the module to the operating position in response to manual loading of the module, and from the operating position to the unload position in response to a command signal from the microcomputer system. The transporting mechanism includes means for locking the module in the operating position to prevent its withdrawal from the receptacle in the absence of an eject command keyed in by the user. That command causes unloading of the read/write heads from the disks to permit handling of the disk drive module without damage to the heads or disks. The module transporting mechanism is actuated by an electric motor acting through a speed-reducing gear train and a crank mechanism. A cam actuated microswitch, responsive to the position of the module transport mechanism, and a conductive loop established by the module and receptacle connectors, provide control signals for energizing and de-energizing the motor.

Further features and advantages of the invention will become apparent from the detailed description read with the accompanying drawings in which:

FIG. 1 is an isometric view of a microcomputer system and shows schematically certain aspects of the present invention including a hard disk drive module and receptacles therefor with other features of the microcomputer shown in broken lines;

FIG. 2 is a schematic side elevation view of a receptacle in accordance with the invention showing a disk drive module in the initial load position in which it partially projects from the receptacle;

FIG. 3 is a view similar to that of FIG. 2 and shows the disk drive module in its operating position in which it is fully retracted inside the receptacle;

FIG. 4 is an exploded, isometric view of the main elements of the disk drive module of the invention;

FIG. 5 is an isometric view of the module receptacle and shows portions of the module transport mechanism;

FIG. 6 is a side elevation view, partially broken away, of the receptacle showing details of the module transport mechanism and electrical connector assembly which is adapted to be received by a mating connector on the disk drive module;

FIG. 7 is a cross section view of the receptacle as seen along 7--7 in FIG. 6;

FIG. 8 is a cross section view of the receptacle as seen along 8--8 in FIG. 6;

FIG. 9 is an end elevation view of the receptacle as seen along 9--9 in FIG. 6;

FIG. 10 is an exploded, perspective view showing details of a crank and cam assembly forming part of the module transport mechanism;

FIG. 11 is a block diagram of a circuit for controlling the transport mechanism motor;

FIG. 12 is a simplified side elevation view of a portion of the receptacle showing the initial or standby configuration of the module transport mechanism;

FIG. 13 is a view similar to that of FIG. 12 showing the relative positions of the module, the module transport mechanism, and the receptacle connector assembly during the initial loading phase of the module;

FIG. 14 is a cross section view as seen along 14--14 in FIG. 13 additionally showing portions of the module in relation to the transport mechanism and receptacle connector assembly;

FIG. 15 is a a view similar to that of FIG. 13 showing the configuration of the module transport mechanism in the operational position with the module shown in phantom;

FIG. 16 is a cross section view as seen along 16--16 in FIG. 15 additionally showing portions of the module in relation to the transport mechanism and receptacle connector assembly;

FIG. 17 is a rear, partially cutaway elevation view of the module showing details of a connector shutter assembly with the shutter in its closed position covering the electrical connector of the module;

FIG. 18 is a view similar to that of FIG. 17, with portions shown in section, depicting the shutter in its open position in the operating position of the module;

FIGS. 19 and 20 are side elevation views of the crank and cam assembly of the module transport mechanism, showing the angular positions of the assembly during the final stages of the module unloading sequence; and

FIG. 21 is a flow chart of the operation of the module transport mechanism.

A microcomputer system 10 employing the features of the present invention is shown schematically in FIG. 1. The system 10, exemplified by the "PAC 286" manufactured by Tandon Corporation, Chatsworth, CA, incorporates standard components including a power supply (not shown) and interconnected printed circuit boards 14 and 16 carrying electronic information and control signal processing circuits all as well known in the art. One of the printed circuit boards 14 is the "mother board" while the other board 16 mounts disk drive circuits which carry power, data and control signals to and from the disk drive. The system 10 may also include a floppy disk drive 20 which, is illustrated in the example of FIG. 1, comprises a standard 51/4" half height unit.

The system 10 has a pair of identical receptacles 22 configured to receive hard disk drive packs or modules such as the module 24. The rear portion of each receptacle encloses an electrical connector assembly 26 connected by a ribbon cable 28 to the disk drive board 16. Hinged to the front portion of each receptacle is a door 30 spring-loaded to the closed position as shown in FIG. 1.

Referring now also to FIGS. 2 and 3, the broader aspects of the invention and its operation will be briefly described. This summary will be augmented by a more detailed explanation below. The module 24 is inserted by the user into the receptacle 22 to a solid stop load position (FIG. 2). Corresponding beveled edges 32 and 34 on the receptacle and module, respectively, assure correct orientation of the module when inserted. The initial insertion of the module pushes open the spring-loaded, hinged receptacle door 30 which remains open until the module is completely removed from the receptacle.

In the load position of the module, a module transport mechanism within the receptacle 22 is energized to move the module to an operating position (FIG. 3) in which the front face of the module is essentially flush with the forward extremity of the receptacle. As the module approaches its operating position, a connector assembly 36 carried by the module adjacent its rear wall is exposed and in the final stage of rearward movement of the module, the receptacle and module connector assemblies 26 and 36 mate to complete the required electrical circuit paths between the operative components inside the module and the disk drive power, data and control circuits in the microcomputer system. Once the module is in the operating position, the disk spindle motor is energized, the head carriage assembly is unlocked, and the read/write heads are loaded onto the disks to permit data transfer to take place. In this connection, reference is made to copending application Ser. No. 759,900 identified above. In the operating position, the module is locked in place and cannot be extracted manually from the receptacle.

To remove the module, the user keys in a command, such as "EJECT 2" (the numeral identifying one of the two receptacles) to initiate the unloading sequence. During this phase, the read/write heads are unloaded from the disk surfaces and the head carriage assembly locked so that the module can be handled without risk of damage to the disk or heads.

Reference in this connection is again made to application Ser. No. 159,709 (which is a continuation-in-part of Ser. No. 759,900) which discloses a head loading/unloading and carriage lock mechanism, and to application Ser.No. 896,762 (now U.S. Pat. No. 4,724,500) which discloses a head capturing or caging mechanism for preventing shock damage to the heads and disk, which applications are to that extent incorporated herein by such reference. Power is then removed from the disk spindle motor and the other disk drive components. Upon completion of this operation, the module transport mechanism is energized to move the module forward to an unload position in which it partially projects from the receptacle. At the end of its forward travel the transport mechanism releases the module and assumes its initial or standby status awaiting the insertion of the same or a different module.

It will be evident from this general description that the sole interface between the operative disk drive components enclosed within the module and the rest of the system is a single electrical connector; no other connections, mechanical or otherwise, are required. Moreover, movement of the module from the initial load position to the operating position, and from the operation position to the unload position, is completely under machine control.

Turning now to FIG. 4, the disk drive module 24 includes an enclosure 40 comprising four basic parts: side walls 42 and 44, and front and rear end caps 46 and 48. An edge of one of the side walls 42 and corresponding edges of the ends 46 and 48 define the bevel 34. The module 24 is a compact, rugged, easily transportable unit measuring 2.5.times.4.75.times.7 inches in accordance with one practical example known as the "Personal Data Pac," a trademark of Tandon Corporation, Chatsworth, CA.

Retained within the enclosure 40 is a sheet metal chassis 50 carrying a micro hard disk drive 52. Circuits for interfacing the disk drive with the microcomputer system are mounted on a printed circuit board 54 attached to the disk drive case 56. The sealed case 56 defines a "clean chamber" enclosing one or more spindle-mounted disks (not shown) rotatable about an axis 58 by a spindle motor 60. A pair of read/write heads (not shown) within the case 56 transfer data to and from the surfaces of each disk and are movable by a motor 62 under servo control in a generally radial direction 64, perpendicular to the rotational axis 58, to access the various concentric data tracks on the surfaces of the disk. Such disk drives, their components and their operation are well known to those skilled in the art and need not be detailed here.

The disk drive 52 is coupled to the chassis 50 by four anti-shock and vibration mounts 66. The mounts 66 are oriented to provide shock and vibration isolation in all directions.

The outer surface of the side wall 42 of the module enclosure 40 includes a pair of identical recesses 68 which cooperate with the module transport mechanism in a fashion to be presently described. Each recess 68 includes a rear surface 70 perpendicular to the outer surface of the enclosure side wall 42 and a forwardly sloping surface 72.

The rear end of the module enclosure includes a slot 74 in alignment with the electrical connector assembly 36 coupled to the printed circuit board 54 by a ribbon cable 76. Further aspects of this feature will also be explained in greater detail below.

FIGS. 5-9 show the details of the receptacle 22. The receptacle 22 includes a generally rectangular housing 80 supporting at its forward end the door 30 by means of a hinge pin 82. The door is normally maintained in its closed position, as shown in FIGS. 5-7, by a coil spring 84. Insertion of the disk drive module swings the door open as shown by the broken lines in FIG. 7.

The housing 80 has a side wall 86 which includes a longitudinal slot 88 extending substantially the entire length of the housing. Disposed along the outer surface of side wall 86 and straddling the slot 88 is a frame 90 supporting a module transport mechanism 92. The frame 90 is shaped to define a longitudinally extending guideway 94 and a ramp 96 at the forward extremity of the frame. As best shown in FIGS. 5 and 7, the ramp slopes away from the housing wall 86 in a direction toward the front of the housing. The frame further defines a narrow, longitudinally-extending guide slot 98.

The mechanism 92 includes a reciprocating slide 100 within the frame guideway 94. The slide 100 has side margins 102 overlapped by the edges of side wall 86 adjacent the slot 88, the slide thereby being retained within the confines of the guideway 94. A projection 104 on the slide 100 rides in the slot 98 to keep the slide centered during its travel within the guideway 94.

Disposed on the rear extremity of the slide 100 is a pair of posts 106 adapted to be engaged by the rear face of the module 24 (FIG. 7). The slide 100 further includes a hinged front panel 108 including a pair of inwardly projecting fingers 110 adapted to cooperate with the rear surfaces 70 of the recesses 68 in the side wall of the module. The hinged slide panel 108 is coupled to the main body of the slide by a hinge pin 112 and is biased outwardly by a coil spring 114. The action of the spring 114 causes the panel 108 to bear against the ramp 96 when the slide 100 is in its forward-most position. With reference specifically to FIGS. 5 and 7, in that position of the slide the fingers 110 are clear of the module 24.

With reference now also to FIG. 10 which details a crank and cam assembly, the slide 100 is reciprocated within the guideway 94 by a crank 120 and a stepped connecting link 122. The crank 120 projects from a cam 124 and is fabricated as an integral part thereof. The cam 124 is journaled for rotation on a shaft 126 having flats 128. Projecting from the lower surfaces (as seen in FIG. 10) of the crank 120 and cam 124 are protuberances defining radially-extending abutment surfaces 130 and 132, respectively. The outer surface of the cam 124 defines a short detent or notch 134 straddled by high points or lobes 136 138. The lobe 136 is longer than the lobe 138.

Situated between the cam abutment surfaces 130 and 132 is a plate-like, sector shaped, drive cam 140 having a radially-extending driving edge 142 and a radially-extending trailing edge 144; the angle subtended by these edges is substantially less than that subtended by the abutment surfaces 130 and 132. The periphery of the drive cam 140 defines a peaked lobe 146.

The drive cam 140 has a square hole 148 for receiving the flats 128 of the shaft 126 and is driven thereby. The drive cam, in turn, drives the cam 124 which may therefore be characterized as the follower cam. Because of the difference between the angles subtended by the drive cam edges 142, 144 and the abutment surfaces 130, 132, a lost motion connection is established between the drive and follower cams.

The shaft 126 and cam 140 are driven by a reduction gearmotor 160 through a gear train 162-164 carried by the frame 90. The gear 164 is secured to the shaft 126 whose rotational speed is relatively low on account of the substantial speed reduction provided by the gear motor 160. As will be described, energization of the gearmotor 160 is controlled in part by the microswitch 150.

The structure of the receptacle connector assembly 26 may be best understood by referring to FIGS. 7-9. The assembly 26 is carried by upper and lower partitions 170 and 172 forming part of the receptacle housing 80. The partitions are engaged by the end portions of the assembly 26 which is free to move or float on the partitions to some extent vertically and laterally. The connector assembly 26 consists of a forwardly-facing electrical connector block 174 extending between a pair of longitudinal guide pins 176. Each pin 176 includes a laterally projecting tab 178 having a sloping front camming edge 180. The connector block 174 is electrically connected to terminal blocks 182, 183 by way of a printed circuit board 184. With the receptacle 22 installed in the computer, as shown in FIG. 1, the motor 160 and switch 150 are connected to terminal block 182 and the block 183 is connected to the ribbon cable 28. The assembly 26 further includes a support 186 and spacers 188. The partitions 170, 172 are sandwiched between the ends of the printed circuit board 184 and the support 186 as shown in FIGS. 6-9, the spacers allowing the aforementioned floating of the connector assembly. Vertical movement of the assembly 26 is limited by the spacers and edges of the partitions, while lateral movement is limited by projections 179 on the partitions.

Turning now to FIGS. 14 and 16-18, there is shown in greater detail the electrical connector assembly 36 carried by the module 24 adjacent the access slot 74 in the rear wall of the module enclosure. The connector assembly 36 includes a connector block 190 adapted to receive the receptacle connector block 174. The ends of the access slot 74 include a pair of laterally extending slits 192. A shutter 194, biased to a closed position by tension springs 196, normally covers the module connector block 190 (FIGS. 14, 17). The shutter is slidable to an open position to expose the connector block 190 (FIGS. 16, 18). The module connector block 190 and shutter 194 have pairs of U-shaped cutouts 198 and 200, respectively, the connector block cutouts being in alignment with those in the shutter. As best seen in FIG. 18, the cutouts 198, 200 and slits 192 are separated by the distance between the guide pins 176 and associated tabs 178.

As the module is moved to its operating position, the pointed tips of the guide pins 176 initially align the connector blocks 174 and 190. Then tabs 178 enter the slits 192 and cutouts 198, 200, and the front, sloping edges of the tabs 178 cam the shutter to shift it to its open position allowing the connector block 174 to receive the block 190 to complete the electrical connection between the module and the receptacle.

FIG. 11 shows, in simplified, block diagram form, the main components of a circuit for controlling the energization and de-energization of the gearmotor 160 and hence the operation of the module transport mechanism 92. A related flow chart is shown as FIG. 21. A microprocessor 202 provides appropriately timed on/off control signals to an amplifier 204 which powers the gearmotor 160. The microprocessor also controls an electronic switching circuit 206 connected across the windings of the motor. Switching circuit 206 is operable to connect the motor windings thereby dynamically braking the motor to a rapid stop. Broadly, the microprocessor is responsive to three inputs: first, the microswitch 150 provides signals representing the position of the crank and cam assembly 120, 124, 140, and therefore the position of the transport mechanism 92 including module slide 100; secondly, the microprocessor monitors the status of the receptacle and module connectors 174 and 190 and if these are coupled (indicating that the module is in the operating position), a terminal 208 of the microprocessor is grounded via a loop 210 through the connectors; and thirdly, the microprocessor 202 is responsive to an eject command initiating the module unload cycle. The microprocessor 202, amplifier 204 and switching circuit 206 are preferably mounted on the disk drive controller board 16. It will be evident to workers in the art that the microprocessor may be programmed to provide various timing signals, signal delays and logic functions to control the operation of the transport mechanism as desired; FIG. 21 shows a preferred implementation in this regard.

FIGS. 6, 7 and 12-20 illustrate a typical sequence of operation of the invention. Reference may also be made to FIGS. 11 and 21. FIGS. 6, 7 and 12 show the mechanism in its initial or standby state awaiting insertion of the module 24. The slide 100 is near its forward most position with the crank 120 and link 122 slightly over center, that is, past top dead center relative to the counterclockwise direction of rotation of the crank and cam assembly, as shown. The slide panel 108 is on the ramp 96 and thereby deflected away from the interior of the receptacle so that the fingers 110 do not interfere with the module as it is being inserted. The microswitch plunger 152 is on the cam lobe 136, and the driving edge 142 of the drive cam 140 is in engagement with the abutment surface 132 of the cam 124. With the microswitch 150 and the connector loop 210 (FIG. 11) both open, the system is ready to receive a module.

When the user inserts the module 24, pushing it back into the receptacle, the rear surface of the module eventually engages the slide posts 106. Further rearward movement of the module during the manual insertion phase pushes the slide back thereby causing counterclockwise rotation of the cam 124 relative to the stationary drive cam 140 until the abutment surface 130 on the crank/cam assembly engages the trailing edge 144 of the drive cam 140 (FIG. 13). Because of the substantial gearmotor speed reduction ratio, the drive cam is held firmly against rotation and therefore resists further rearward movement of the module thereby providing a solid stop. It will be noted from FIG. 14 that with the initial rearward motion of the slide by virtue of the manual insertion of the module, the hinged slide panel 108 has moved off the ramp 96 and onto the main portion of the frame 90, and that the fingers 110 have thereby entered the recesses 68 in the side of the module. In addition, the described initial counterclockwise rotation of the cam 124 releases the microswitch plunger 152 causing the switch to assume its normally closed state. This signals the control circuitry that a module has been inserted and if, following a brief delay of, for example, 0.5 second, the module is still inserted, the gearmotor is energized to begin counterclockwise rotation of the drive cam 140. Because of the lost motion connection between the cams 124 and 140, the drive cam 140 briefly rotates independently of the cam 124 until the driving edge 142 engages the surface 132 to begin rotation of the cam and crank assembly as a unit. The slide is thereby retracted, the fingers 110 pulling the module with them. As already explained, as the module approaches the operating position, the tips of guide pins 176 align the connector blocks 174 and 190 and the guide pin tabs 178 then cam the shutter to its open position (FIGS. 16, 18) and electrical connection is established by the connector blocks 174 and 190. In response to the actuation of the microswitch 150 by the drive cam lobe 146, gearmotor rotation is halted via dynamic braking and at this point the crank is approximately 10.degree. to 15.degree. before bottom dead center (FIG. 15). After a delay of 200 milliseconds, for example, the microprocessor 202 verifies that connector loop 210 is established and microswitch 150 is open. When the presence of these conditions is verified, the disk drive is powered up, the read/write head carriage assembly is unlocked, the heads are loaded onto the disks and disk drive calibration and operation are initiated. It will be seen from FIG. 15 that the location and length of the drive cam lobe 146 assure that the connectors 174 and 190 are sufficiently engaged and that the crank stops before bottom dead center. Because the crank is stopped before bottom dead center, the module is locked against withdrawal by the stationary drive cam which continues to engage abutment surface 132.

When an Eject command is keyed in, the disk drive is first prepared for ejection which, as already mentioned, includes unloading the read/write heads, locking the head carriage assembly and powering down the disk drive. Following completion of this sequence, the gearmotor 160 is once again energized to drive the crank 120 counterclockwise thereby advancing the slide 100 toward the unload position. The crank and cam assembly positions relative to the microswitch plunger 152 during the final stages of the module unload sequence are shown in FIGS. 19 and 20. When the microswitch plunger contacts the lobe 138 of the cam 124, power to the gearmotor 160 is reduced by "chopping" or switching the power to a pulse width modulation mode with a preselected duty cycle which may be 2 milliseconds "on" and 4 milliseconds "off". Power switching continues as the microswitch returns to its normally closed state when the switch plunger 152 enters the cam notch 134. Upon contact of the switch plunger 152 with the lobe 136 of cam 124, the amplifier 204 providing power to the motor 160 is turned off by the microprocessor 202 and dynamic braking of the motor is initiated by the microprocessor 202 via the switching circuit 206 rapidly bringing the motor 160 and slide 100 to a stop. The transport mechanism is now once again in the initial configuration shown in FIGS. 6, 7 and 12, and the module 24 is ready to be withdrawn from the receptacle 22.

The sequence of operation may also be described with reference to the flow chart of FIG. 21. The chart is divided into three main columns entitled "Initialize", "Retract" and "Eject". A typical operating cycle will, be described

When the power to the system is turned on (top lefthand corner of the chart), if the switch plunger 152 is on lobe 136 and the loop 210 is open (indicating the slide 100 is in its initial position awaiting insertion of a module as shown in FIG. 12), the "Retract" sequence (center column of the chart) is followed. Upon insertion of the module until it is stopped by the stationary drive cam and assuming that no Eject command signal is keyed in at this point, the plunger of the switch 150 moves off the lobe 136 (FIG. 13). Following a delay of 0.5 seconds (during which the user may withdraw the module from the receptacle) the motor 160 is turned on and continues running until the switch 150 senses the presence of the lobe 146 on the drive cam 140 indicating that the module has reached its operating position (FIG. 15). At this point the motor is stopped under dynamic braking, switch 150 is interrogated to confirm the continued presence of the lobe 146 and, if the module is in the operating position loop 210 will be closed. (If the loop is open the mechanism goes through an initializing sequence shown in the lefthand column and which will be described below). After a delay of 200 milliseconds (top of "Retract" column), the loop 210 is interrogated and if closed the sequence moves to the righthand "Eject" column. So long as lobe 146 is present at switch 150 and actuating the switch and there is no Eject command recirculation takes place as shown around the Eject command decision point until such command is keyed in by the user and received by the microprocessor 202. The motor is then turned on to advance the transport mechanism from the operating position to the unload position and switch 150 is monitored until it senses the presence of lobe 138 at which time the motor 160 is operated at partial power by pulse width modulating its supply. When the switch 150 is deactuated by the presence of notch 134 and then reactuated by lobe 136 the motor is stopped under dynamic braking, the transport mechanism having arrived at the module unload position (FIG. 12).

If upon powering up the system no lobe is sensed by switch 150, or if upon arrival of the transport mechanism at the operating position the connector loop 210 remains open, or if an Eject command is interposed after system power-up but before retraction is begun, the transport mechanism follows an initialization sequence (left column, FIG. 21). Essentially, this sequence is followed if the transport mechanism is in an unkown condition upon system power-up. The purpose of the initialization sequence is to bring the transport mechanism into its initial state ready to receive a module (FIG. 12). The motor is turned on and if a lobe is sensed and the loop 210 is closed then the module is at the operating position (the lobe that is sensed would in that case be lobe 146) in which case the motor is turned off (top of middle column). On the other hand, if the loop 210 is open the system must determine the position of the cam 124. This is accomplished by using the unique length of the notch 134 as a reference or index.

More specifically, when it is determined that the loop 210 is open, the switch 150 begins monitoring for the onset of the first LOBE condition, that is, the first de-actuation of the switch. Upon occurrence of that event, a 200 millisecond timer is started by the microprocessor 202 and the switch begins to monitor for the next switch actuation. The notch 134, because it represents by far the shortest of the possible LOBE conditions, invariably traverses the microswitch plunger position in much less than 200 milliseconds. Accordingly, if a lobe is sensed by the microswitch 150 within the 200 millisecond time period, it will be lobe 136 in which case the transport mechanism will be in its initial state and the motor is stopped. On the other hand, if no lobe has been sensed by the end of the time eriod, the sequence loops back to the beginning of the cycle, the switch 150 monitoring for the onset of the next lobe.

It will be seen that this notch detection arrangement makes possible the use of a single switch which minimizes cost and adjustment of the components.

Other ways of implementing the control of the motion of the transport mechanism will be apparent to those skilled in the art based on the description that has been given. For example, time delays can be provided at appropriate points to mask noise, that is, to provide for switch debouncing and contact settling.