perm filename JOE1.VL[1,VDS] blob sn#195938
filedate 1976-01-07 generic text, type C, neo UTF8
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C00002 00002 \|\\M1BDR25\M2SIGN57\M3NGR25\M4NGR20\F2\CVICARM
\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F1\CJanuary 7, 1975
Mr. Joseph Zingheim
3314 Kirk Road
San Jose, Calif. 95124
This letter will serve as our contract covering the delivery
of our next computer interface- To be known as the NRL interface.
This contract becomes valid after signatures by both you and
a Vicarm representative, and after you deliver to Vicarm 4 sets of
completely documented drawings of the interface you recently
delivered- called the GM interface, and after this GM interface has
had all its oversize capacitors replaced with properly sized
capacitors so that its boards can lie completely flat, and has had a
final check done on its wiring.
Vicarm agrees to contract for delivery of a computer
interface complete with 8 each 12 bit DACs (model Burr-Brown DAC 80
or equiv.), 32 channels of 12 bit A-D (Siliconix multiplexers or
equiv. and Burr-Brown ADC-80 A/D or equiv.). This interface will
include the same enable and disable features as in the GM interface
Also included is DAC zeroing and switch
to position mode in case of computer non-enable every 100 ms,
provision for current, position and velocity mode select bits, pull
up resistors on all open collector outputs, one-shot pulse generators
where required (as opposed to R-C type pulse generators), and all
discrete parts properly mounted on parts carriers where possible. The
interface shall be mounted on DEC size and type cards in DEC blocks.
All signal cables shall connect via 3-M or paddle type connectors
with provision for sufficient numbers of ground wires to allow true
12-bit resolution (+-10 volt signal range). The DEC blocks shall be
laid flat-side by side as in the LSI-11 configuration. Vicarm will
provide these two blocks suitably connected together for your use.
This interface will interface to a model LSI-11 computer thru
a standard DRV-11 interface card. All cable pin assignments shall be
the same as in the GM interface, unless a change is requested or
authorized by Vicarm. All bits and signals shall have the same sign
and function as in the GM interface, unless a change is agreed upon.
All debugging and testing will be done by you, not at Vicarm
facilities, and without Vicarm assistance. As a reliability and
burn-in test, you will also run the interface for 48 hours,
continuously cycling thru all A/D channels and outputting changing
data to all DACs. In case of any component failure, corrections
shall be made and the test repeated until satisfactorily passed. All
test programs,programming and setups shall be done by you without
The completed and tested interface shall be delivered and
demonstrated on or before he last day of February 1976, along with
complete documentation. This documentation shall include 4 sets of
prints showing and labeling all boards, components, wires and
For timely delivery, Vicarm will pay you, for your labor, the sum of $1,300.
For each day after Feb. 28 that all of the above is not complete,
Vicarm will charge you a late penalty of $5.00.
Should the system be late by more than 1 month, Vicarm may
cancel this contract without obligation to you.
Vicarm agrees to pay for all parts and materials used by you
(execpt for wire, solder and buss bars), in addition to the above
amounts. Payment will be made on your presentation
of receipt or delivery to Vicarm of a part ordered by you. You will
provide receipts for all purchases. Any purchases
for components which represent significant changes from the GM
interface must be approved in advance.
You shall be responsible for ordering all parts and
components. Industrial or commercial grade parts ( i.e. 74 rather than 54 series
TTL) shall be used in all
cases, execpt where advance approval is recieved. You shall also be
responsible for timely delivery of all these parts and components
execpt in the case of the DACs and A/D. Vicarm shall directly
purchase the DACs and A/D. In addition, all components shall be
mounted on standard DEC style or equiv. single side wire wrap boards
with sockets for all IC's. The board position in the DEC blocks
shall be selected by Vicarm and the blocks wired accordingly. As you
claim to have most of the bugs out of this design, Vicarm will not be
liable for any component failures due to errors or infant mortality
failures. Replacement and hassleing with vendors on these items is
your responsibility, as it is assumed that all components have their
own replacement guarantees.
You will demonstrate that your interface works, and will
guarantee it to work for a period of 90 days from delivery (execpting
misuse or damage by Vicarm). During this time you will make all
repairs and part replacements at your expense.
All parts and components purchased by Vicarm become the
property of Vicarm at the time of payment for such parts. In case of
excess, unused, or damaged parts, Vicarm shall have the option of returning
them to you for refund from you, if Vicarm desires. This means that you
agree to buy back at purchase price all spare parts- if Vicarm desires.
In the case of design changes which Vicarm feels may
significantly alter the system performance or reliability, Vicarm may
request advice from a mutually agreeable expert to settle design or
execution disagreements. This person's decision shall be final. In
the case of disputes regarding delivery, Vicarm or you may request
such a mutually agreeable expert advisor to decide on the
acceptability and completeness of the finished product. This person's
decision shall be final. Fees paid (if any) to such an expert shall be shared
equally by you and Vicarm. As a measure of performance, the standard shall
be the GM interface. Performance of this NRL interface shall be the same or
better than the GM interface by all important tests (i.e.- resolution,
noise, response time, linearity, etc.). In the case of details not mentioned here,
the interface will be assumed to have the same properties as the GM interface.
Agreed to ________________________________
Agreed to ________________________________
V. D. Scheinman\.