COMMENT ⊗   VALID 00004 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	.TITLE CALIB
C00003 00003	CONVERSION FACTORS FOR ADC'S AND DAC'S
C00005 00004	KINEMATIC ARM CONSTANTS
C00008 ENDMK
C⊗;
.TITLE CALIB

;CALIBRATION DATA FOR THE NRL/SCHEINMAN ARM

HELLO:	.ASCIZ	/
ARM CONTROL PROGRAM, VERSION C, 31MAR77
/
	.EVEN

;ADC AND DAC CHANNELS FOR ARM JOINTS

CALIB:
ACHAN:	0			;ADC CHANNELS, JTS 1-7
	1
	2
	3
	4
	5
	6

DCHAN:	00000			;DAC CHANNELS, JTS 1-7
	20000
	40000
	60000
	100000
	120000
	140000
;CONVERSION FACTORS FOR ADC'S AND DAC'S

SCALE:	.WORD	40025	;SCALE FACTOR FROM ADC TO ANGLES
	.WORD	136736
	.WORD	137425
	.WORD	35404
	.WORD	151625
	.WORD	143252
	.WORD	5546

OFFSET:	.WORD	143400	;JOINT OFFSETS
	.WORD	21656
	.WORD	61457
	.WORD	122014
	.WORD	25637
	.WORD	31211
	.WORD	173573

BSCALE:	.WORD	37702	;S.F. FROM JT. ANG. TO DAC UNITS
	.WORD	141040	;CHANGED BACK BY VDS 4/5/77
	.WORD	140370
	.WORD	42561 
	.WORD	122032
	.WORD	134242
	.WORD	54476

BOFFST:	.WORD	3400	;DAC OFFSET
	.WORD	160600
	.WORD	21100
	.WORD	157500
	.WORD	177500
	.WORD	174500 
	.WORD	1356

BSHIFT:	-1		;SHIFT COUNT TO CONVERT FROM ANGLE TO DAC
	-1
	-1
	-1
	-1
	-1
	1
;KINEMATIC ARM CONSTANTS

BASEX:	.WORD	0		;X & Y COORDINATE OF BASE
BASEY:	.WORD	0
S1:	.WORD	25424 		;10.77	OFFSET OF LINK 1
A2:	.WORD	20000 		;8.0	LENGTH OF LINK 2
S2S3:	.WORD	11256 		;4.67	OFFSET OF LINK 2 + OFFSET OF LINK 3
S2S3S:	.WORD	534		;21.81	(S2+S3)**2, DOUBLE PREC
	.WORD	167104
S4:	.WORD	20000		;8.0	OFFSET OF LINK 4
S6:  	.WORD	14000		;6.00	OFFSET OF LINK 6
S6S:	.WORD	60000 		;24.0	4*S6
S4A2S:	.WORD	4000		;128.0	S4**2 + A2**2
	.WORD	0
A2DS4:	.WORD	40000		;1.0	A2/S4
A224:	.WORD	10000		;256.0	4*A2↑2
	.WORD	0


;JOINT STOP LIMITS

LSTOP:	.WORD	 -12288.;-135 LOWER JOINT STOP LIMIT
	.WORD	 -22300.;-245
	.WORD	 -5006.	;-55
	.WORD	 -21390.;-235
	.WORD	 -9739.	;-107
	.WORD	 -15474.;-170
LHAND:	.WORD	 -31.	;-.03

USTOP:	.WORD 	 16839.	;185  UPPER JOINT STOP LIMIT
	.WORD	  5461.	;60
	.WORD	 19570.	;215
	.WORD	  5461.	;60
	.WORD	  9739.	;107
	.WORD	 10012. ;110
UHAND:	.WORD	  1946.	;1.9

MIDANG:	.WORD	  2276.	;25   MID POINT BETWEEN UPPER AND LOWER
	.WORD	 -7737.	;-85
	.WORD	  6827.	;75
	.WORD	 -7737.	;-85
	.WORD	     0.	;0
	.WORD	 -2731.	;-30
	.WORD	     0. ;0


;AVERAGE JOINT SPEEDS, USED FOR DETERMINING THE TIME REQUIRED
;TO EXECUTE A MOTION.

SPEEDS:	1500.	; 96 DEG/SEC
	1500.	; 96 DEG/SEC
	1500.	; 96 DEG/SEC
	500.	;288 DEG/SEC
	500.	;288 DEG/SEC
	300.	;480 DEG/SEC

EXTIME:	30.	;A LITTLE EXTRA TIME FOR SHORT MOTIONS

PULTME:	20.	;DURATION OF HAND PULSE MODE

SWAIT:	2	;START WAIT COUNT