COMMENT ⊗   VALID 00006 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	LITERATURE ON THE STANFORD ARM
C00003 00003	MOTORS
C00005 00004	ARM PROGRAMS
C00006 00005	ARM SERVO PROGRAM DETAILS
C00008 00006	Gearing notes
C00009 ENDMK
C⊗;
LITERATURE ON THE STANFORD ARM

MSPECS.S  Motor current specs for the motors on all the Stanford arms.

SPECS.S   General Specifications sheet on the current model Stanford arm.

ARM1.S    The Care and Feeding of the Stanford Arm (Installation and early operation).

AL Report- An Automation Language.

Lou Pauls Report- Arm Trajectories, and Servo Equations- 1972-1973 stuff.

ARM.PAL [11,BES] - Shimano's PDP 11/45 arm servo routines.

REFS.DOC  - Useful References on control and operation of the arms.
MOTORS

Globe motor details.  
Typical demagnetization results

As delivered - back emf equals 9.2
Take out magnets and replace- back emf goes to 8.2
Take out magnets and press like poles together until they touch-
back emf drops to 6.2 or so.
So we see the potential torque loss due to dissassembly.
Careful disassembly gives only a 157 torque loss, but fooling 
around results in up to 50% torque loss.

A good test for fully charged globe motor magnets is to see if it cogs.  If it
does, then the magnets are at least 75% charged.  If it doesnt, then you
have weak magnets.

Placing the poles of a globe motor between the poles of a large alnico magnet
seems to properly recharge the magnets.  As an example- recharging the motor above 
in this manner yeilded a back emf of 9.6.  Higher than the original number- but no
doubt, when put to use, the magnets can be expected to discharge a bit in the
presence of demagentizing armature current induced fields.

As a furthur note- testing the motor with the large charging magnet between the
poles gives an emf of over 15.  
ARM PROGRAMS
TO create a macro type
DEFINE  MACRONAME

THEN THE INSTRUCTIONS


TERMINATE WITH A BLANK LINE

TO EXECUTE, TYPE
MACRONAME

DO

TO SAVE A FILE TYPE 

BEGIN FILENAME
MACRONAME
MACROCNAME

END

TO EXECUTE A FILE TYPE
DO FILENAME


ARM SERVO PROGRAM DETAILS

Lou's programs are under FAIL -  Look under Arm Spacewar code-
Line numbers 1554 to 1563

Here the trajectory coefficients are taken from the list, which contains
5 coefs.  (a4 to a0 , the total trajectory time in microseconds, and an
address of the next trajectory coef. list.)

ELL1: MOVE AC,A4(I)  Loads AC with A4 coef. of Ith joint
	MUL AC,MQ    Multiplies A4 by time coef (<1), a 36 bit word)
	ADD AC,A3(I) 	Adds the A3 coef. to AC (18 bits long)
	MUL AC,MQ	Multiplies AC by time coef.
			All of these operations are fixed point operations.


	ADD AC,A0(I)	Adds last coef. to AC, so now we have
			(((A4)t)+A3)t+A2)t+A1)t+A0  which is a normal quartic.
			Lou says that most trajectories are now cubics which means
			that the A4 term is zero. This is a fixed point equation.

	XOR,AC,SC(1)   	Adjust the contents of the accumulator by the Sign Factor
			Which means change the sign if required.

	FSC AC,0	Convert contents of AC to floating point.

			
The above sequence is done for each joint, each jiffy. All that changes is the
joint number (I) and the time t,  which is in microseconds, and counts down the
trajectory length time stored in  menory.  Thus, this is how a typical expansion
takes place.
Gearing notes

Joint 3 on M.I.T. arm.  Motor pinion has 11 teeth and is enlarged
to .1873 O.D.   This is larger than the standard diameter of .180
but smalller than the normal enlarged pinion OD of .190 dia.  Thus,
if we use a stock idler gear, the center distances must be moved out
by  .0037 inches or so. These numbers are subject to correction.
The contact ratio of a standard mesh is       and that of this
proposed mesh is          .  If we kept the gearing at 13 tooth
pinion, the contact ratio would be          .