perm filename ARM1[1,VDS]1 blob sn#076282
filedate 1973-12-05 generic text, type T, neo UTF8
00100 THE CARE AND FEEDING OF THE STANFORD ARM
00300 BY VIC SCHEINMAN
00500 This paper explains some of the operating and maintainence
00600 details of the Stanford Arm.
00800 Installing the arm:
01000 The arm must be bolted to a solid table surface or other
01100 suitable mounting plate. The 1/2 inch screw threads on the bottom of
01200 the base plate are for this purpose. Use them all! The wires running
01300 down the side of the main column indicate the out of range area of
01400 motion for joint #1, thus, these should be placed away from the
01500 workspace. The supply cable for joint #1 can exit either thru a hole
01600 cut in the table surface, or thru the slot cut in the base of the
01700 arm. The two wide cables running to the other joints should be
01800 strain relieved in such a way that they do not get in the way of the
01900 arm when it is operating in its normal workspace. A little
02000 experimentation will easily show where a suitable clamping point
02100 should be.
02200 Place the power amplifier and control box such that all the
02300 cables from the arm will reach the box. Do not add extender ccables
02400 to the arm, as this will increase the overall resistance of the motor
02500 drive cables and will result in slower motions and increased response
02600 times. A typical location for the amp. box is under the table with
02700 the cables being fed thru the table surface. Plug the amp. box into
02800 the power supply. Again, do not attempt to extend the cable length.
02900 The power supply plugs into 117 v.a.c. and is fused for 8 amps. An
03000 extension cord can be used here is necessary. For semi-portable
03100 applications, where the arm is mounted on a dolly or cart, the amp.
03200 box, and the power supply should be mounted on the same device.
03300 The manual control box plugs into the front of the amplifier
03400 box, with the cable orientation colorcoded as is the case with the
03500 cables to the arm. DO NOT PLUG THE CABLES IN BACKWARDS OR CONFUSE
03600 THEIR ORDER! If the hand held control box is not plugged in, the arm
03700 will not operate as the "OFF" mode is automatically selected in this
04000 Plug the computer into the computer plug using a 50 pin 3M ribbon
04100 connector wired to the A-D channels and DAC channels as described
04200 later. This cable need not be plugged in if the arm is to be used in
04300 manual mode only.
04500 OPERATION IN MANUAL MODE
04800 Set the manualcontrol switch to OFF, either one will do.
04900 Turn on the power supply, indicated by the pilot light. Place all
05000 the brake switches in the ON or LOCK position. To grab and place the
05100 arm somewhere, release the brakes on the proper joints, grab the arm
05200 and move it to where you want it. Then LOCK the brakes. To move the
05300 arm remotely, Put all the brakes in the LOCK position and then select
05400 which joint you want to move wtih the joint select switch on the
05500 manual controller. Now turn the speed and direction control knob and
05600 the selected joint will now move slowly. If anything goes wrong,
05700 release the knob immediately and it will return to center, turning
05800 off the servo and locking the joint. DO NOT ATTEMPT TO INCREASE THIS
05900 MAXIMUM VELOCITY-IT IS SET LOW FOR YOUR OWN PROTECTION. If the joint
06000 stalls under too great a load or because it has hit its own stop
06100 (joints 3-7 only) do not hold the knob on any longer than necessary,
06200 as this may cause excessive motor heating and possible motor damage.