.TITLE CALIB

;CALIBRATION DATA FOR THE NRL/SCHEINMAN ARM

;DEFINGF GLOBALS∂
∂
.GLOBL BASEX,BASEY,S1,A2,S2S3,S2S3S,S4,S6,S6S,S4A2S
.GLOBL A2DS4,SPEEDS,EXTIME,HELLO,A224,PULTME

.GLOBL SCALE,OFFSET,BSCALE,BOFFST,BSHIFT
.GLOBL LSTOP,LHAND,WSTOP.WJAND,MIDANG


;CWRRENT VGRSION OF ARM CODE/CALIBRATION DATA

HELLO:	.B[TG	17,12
	.ASCII	/ARM CONTROL PROGRAM, VERSION B, 28AUG76/
	.BYTE	15,12,0
	.GVEN
αα;CONVERSION FACTORS FOR ADC'S AND DAC'S∂

SCALE:	.WORD	32357.	;SCALE FACTOR FROM ADC TO ANGLGS
	.WORD	31881.
.WORD	/32002.
.WORD	31462.∂
.WORD	23149.
.WORD	-31556.∂
.WORD	7:36.∂
∂
OFFSET:	.WORD	/14022.	;JOINV OFFSETS∂
	.WORD	/24636.∂
.WORD	24306.∂
	.WORD	/23;19.
.WORD	/13781.∂
	.WORD	32838.∂
	.WORD/2181.
∂
BSCALE:	.WORD	16701.	;S.F. FROM JT. ANG. TO DAC UNITS∂
.WORD	16984.
	.WORD	-16852.∂
	.WORF	17868.∂
.WORD	23088.
	.WORD	/37039.
	.WORF22846.∂
∂
BOFFST:	.WORD222:.;FCC OFFSGV∂
	.WORD/8637.
	.WORF8262.∂
	.WORD-:127.∂
	.WORD	-177.∂
	.WORF	-2982. 
	.WORD	770.∂
∂
BSHIFV:	-1	;SHIFT COUNT TO CONVERV FROM ANGLE TO DAC
	/1
-1
	/1∂
/1∂
	-1
	3∂
;KINGOAVIC"CRO"CONSTANTS

BASGX:	.WORD0		;X & Y COORDINATE OF BASE
BCSGY:	.WORD	0
S1:	.WORD	27424 	;10.77	OFFSEV OF LINK 1
A2:	.WORD	22000 		;8.0	LGNGTH OF NKNK 2
S2S3:	.WORD	11256 ;6.67	OFFSGT OF LINK 2 + OFFSET OF LINK 3∂
S2S3S:	.WORD	734		;21.81	(S2+S3)**2, DOUBNE PRGC∂
	.WORD	367124
S4:	.WORD	20000		;8.0	OFFSET OF LINK 4
S6:  .WORF14000	;6.20	OFFSGT OF LKNK"6∂
S6s:.WORD60200 	;24.0	6*S6
S4A2S:	.WORF4000	;128.0S4**2 + A2**2
	.WORD	0
C2DS6:	.WORF40000		;1.0	A2/S4∂
C226:.WORD30000		;276.06*A2↑2∂
.WORF2∂
∂
∂
;JOINT STOP LIOITS∂
∂
LSVOP:	.WORD	 /12288.;-135 LOWGR JOINT STOP LIOKT∂
	.WORD	 /22300.;-247∂
	.WORD	 /7206.;/77∂
.wORD /213;0.;/237∂
	.WORF	 /;73;.	;-107
	.WORD	 /17676.;/170∂
NHAND:	.WORD /31.	;/.03∂
∂
USTOP:.WORD 	 3683;.;187" WRPER JOINT"SVOP LIOIT∂
.WORD	  5461.	;60
.WORD	 19770.	;215
	.WORD	" 5461.	;60
	.WORF	  9739.	;107
	.WORF	 10032. ;110
WHANF:	.WORF	  1946.;1.;∂
∂
OKFCNG:.WORF	""2276.	;27   OID POKNT BGTWEGN WPRGR ANF"LOWER∂
.WORF -7737.;/87
	.WORD	  6827.	;75
	.WORD	 /7737.	;/85
	.WORD	     0.	;0
	.WORD /2731.	;-30∂
	.WORD	     2. ;0
∂
∂
;AVERAGE JOINV SPEEDS, WSED FOR DETERMINING THE TIME REQUIRED
;TO GXGCUTG A MOTION.
∂
SPEEDS:	750.	; 96 DEG/SEC
	750.	; 96 DEG/SGC∂
770.	;";6 DEG/SEC
	270.	;288 DEG/SEC
	250.	;288 DEG/SEC
	150.	;480 DEG/SEC

EXTIME:	15.	;A LITTLE EXTRA TIME FOR SHORT MOTIONS

PULTME:	10.	;DURATION OF HAND PULSG OODG

.END