This article is from the storage FAQ part2, by Rodney D. Van Meter with numerous contributions by others.
Many of the HSM (including EMASS, above, with their VolServ) and backup vendors also sell simple autochanger control interfaces. Check with them. Some things I've read indicate that one or more of the university-based projects ought to have a freely available autochanger controller; if anybody has any info on this let me know.
 
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