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C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002			Diagnostics for the Scheinmann Arm
C00006 00003		Other diagnostic functions
C00008 ENDMK
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		Diagnostics for the Scheinmann Arm

	The following is a brief description of the diagnostic programs
for the arm(s) used in the AL system.  The programs were originally written
by BES and have been modified by JKS.  The initial purpose was to provide
a means for tuning the servo system.  They now are used for diagnosing
system faults and testing various interface functions.  They can run a single
joint and give a time history of the position, velocity and motor drives 
values.

	The system consists of two programs.  Diag.pal runs on the 11 and is
used to drive the arm and collect performance data.  Diagy.sai runs on the 10
and is used to command single joint motions and display performance data.
These programs should not be run unless you are familiar with the safety
procedures for running the arm.  In particular you should keep your finger
on the panic button whenever a motion is commanded and stay out of reach
of the arm (this is for your and the arm's safety).

	To load the system type DO DIAG[AL,HE].  This loads Diag into the
11 (via 11tty) and starts Diagy on the 10.  If the elf (≡ 11) is busy
you will have to wait.  Occasionally the 11 will complain about being
restarted but usually giving the above do command again will get things
going.  When properly started the 10 should ask "AL SERVO TEST Yellow or 
Blue arm (Y,B)?" to which you should respond "B" (in caps). (When the yellow
arm comes up you should be able to test the yellow arm in a similar manner.)
Diagy will enter the command mode and prompt you with a joint #,degrees of 
rotation, and duration (msec) for the move.  You may use the line editor 
to change the joint and motion specificatons.  A carriage return will send 
the motion request to the 11 and cause data to be collected.  Assuming
a succesful motion you will then be asked if you want graphics.  Typing
Y will then put you in the graphics mode.  If you now type a "?" a list 
of graphics options will be shown.  Generally D 0 2000 will be the most 
useful request.  It will display positon, velocity, and torque error 
information for the move.  Typing E x xxxx in the display mode will return
to the  command mode.

	Other diagnostic functions

Diagy displays error values.  It is sometimes useful to see abosolute sensor
readings (i.e. to check pots and tachs).  To get absolute readings you must
stop the 11 at the VT05 Terminal with carriage return.  Then change the value
of the word ACTUAL from 0 to 1.  To continue Diag type DIAG$G on the VT05.
($ ≡ alt).  The graphic displays from Diagy will now be absolute readings.



Several other functions may be run from the VT05:

REF$G 	checks the reference power supply in the blue interface
W$G	gives a display of all joint angles and readings
TTOUCH$G  tests the touch sensors
RB$G	takes a base reading for the wrist sensor and displays it
RR$G	reads and resolves in hand coordinates the forces on the hand
RCHAN$G allows you to monitor an A/D channel