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\\M1BDR25;\M2SIGN57;\M3NGR25;\M4NGR20;\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557
\F1\CApril 14, 1975



Dr. Wes Snyder
Coordinated Sciences Laboratory
University of Illinois
Urbana, Ill.


Dear Wes:

\J
	Enclosed are the  updated drawings I have been  promising you
for a  long time.  I have sent only  those drawings which were not in
the original set, or require changes.  You will also note that I have
sent you another set  of layout drawings.  These are  more up to date
(but  not entirely  accurate yet), and  have lots  of useful comments
written on them.  With  these drawings you should be able to  get the
arm to  the wiring up  stage.  Hopefully,  within a few  weeks I will
send you the connectors and connector mounting hardware.  I am  still
trying to get the #3 joint encoder problems solved, and  will let you know what the
situation  is  in a  short while.  In  any event,  with  the enclosed
changes, either  an  encoder  or  a potentiometer  will  fit  without
modifications. 

	As  I  mentioned in  my  last  letter,  I  am working  on  an
instruction  set.  I have not yet  written the next "chapter", so Bob
Bales will  have  to proceed  with the  handwritten  comments on  the
drawings. 

	Keep up your patience... I'm working hard.\.


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Yours sincerely,



Victor Scheinman
    President

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VDS:pdp10