perm filename INST.M[1,VDS] blob sn#172160
filedate 1975-08-06 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00002 PAGES
C REC PAGE DESCRIPTION
C00002 00002 INSTALLATION
The basic arm is delivered a three separate components. The
arm and hand, the power supply, and the manual control unit. In
addition there is a single 50 conductor cable which connects the arm
to the power supply.
Carefully remove the arm from the shipping container and
place it on a table or other workspace. The joints will all be limp,
so be careful not to catch the hand or wrist on anything while moving
the arm around. The arm is best held by the base and tubular main
column. C-clamp or screw the base to the table or another solid
board, at least 3 feet square.
Unpack the Power supply and manual controller. Connect the
50 conductor ribbon cable assembly between the arm and ARM socket on
the fron of the power supply, making sure to match up the color code
defining connector orientation. Connect the manual control cable to
the power supply, also observing the correct connector orientation.
Now make sure that the manual control select know is in one
of the OFF positions, and all the brake switches are in ON mode.
Plug in the power supply and flip on the ON-OFF switch. The arm
should now become rigid as the brakes on joints 1 thru 5 are
energized ON. Joint 1 is in the base, and joint 5 is in the wrist,
with numbering sequentially outward. Check for proper brake
operation by turning a brake off and physically moving the
appropriate joint. ::
Now trun the selector knob to a joint number. This engages
the velocity servo for that particular joint. Turning the speed
control knob will move the selected joint at a commanded velocity.
The spring centering and center dead band mean that releasing the
speed knob centers it, thereby turning off the velocity servo and
turning on the brake.
Check out all the joints, but remember that this is not a
position servo, and joints will bang into their stops if driven too
The hand (#7 joint] has two modes, a standard mode and an
impact mode to give it greater grasp force. The impact mode is also
used to enable release should the hand jam during grasping of a rigid
object. Do not use the impact mode more than necessary, as this only
causes excessive force to be built up.
Another note of caution- all joints on the arm are reversible
with their brakes off (#6 joint doesnt have a brake- thus no brake
switch]. Thus the arm can be manually placed in a desired position
and held there with the brakes. The motors are NOT designed to hold
a fully loaded arm in place for more than a few seconds, so don't
servo the loaded arm slowly as this can cause motor damage from
overheating. The possibility of this happening is greatest in manual
mode when tinkering is most likely, and there is no computer
monitoring of the motor status.
For debugging, if is desireable to place the 1 inch thick
sheet of hard foam rubber supplied as part of the packing material
around the arm base. This way, damage from accidental bumping into
the table will be minimized.