/FONT#0=BDR30/FONT#2=SIGN57/FONT#3=NGR25/FONT#4=NGR20/TMAR=200/PMAR=1992/BMAR=2
␈↓␈↓␈↓α␈↓β␈↓∧␈↓ α,␈β↓H␈↓∧ 
␈↓ ∧2␈ββ/␈↓αUNIMATION, INC.
␈↓ ε≠␈ββh␈↓βWEST COAST DIV.
␈↓ ε␈β∧α␈↓β188 SO. WHISMAN RD.
␈↓ ¬[␈β∧≤␈↓βMOUNTAIN VIEW, CA. 94041
␈↓ βh␈βε ␈↓CONTROL SYSTEM FOR STANDARD EXAMINATION STAGE
␈↓ ε,␈βε⎇␈↓RFQ 7L-920-2
␈↓ α,␈βλ7␈↓A␈α⊗proposal␈α⊗submitted␈α⊗to␈α⊗the␈α⊗Sundstrand␈α⊗Energy␈α⊗Systems␈α⊗division␈α∃of␈α∃the␈α∃Sundstrand
␈↓ α,␈βλV␈↓Corporation,␈α∩Rockford,␈α∩Ill.␈α⊃This␈α⊃proposal␈α⊃is␈α⊃in␈α⊃response␈α⊃to␈α⊃letter␈α⊃number␈α⊃MS77-45-019L
␈↓ α,␈βλu␈↓dated␈αSeptember␈α20,␈α1977.
␈↓ ε!␈β
N␈↓October 7, 1977
␈↓ F␈β⎇␈↓[1]
␈↓ ε↔␈βα%␈↓INTRODUCTION
␈↓ β∧␈βαc␈↓Unimation␈α⊂has␈α⊂developed␈α⊂a␈α∂computer␈α∂controlled␈α∂manipulator␈α∂system␈α∂which␈α∂is␈α∂based
␈↓ α,␈ββα␈↓around␈αthe␈αDEC␈αLSI-11␈αcomputer.␈α⊗We␈αhave␈αutilized␈αseveral␈αstandard␈αcommercial␈αLSI-11␈αbus
␈↓ α,␈ββ!␈↓compatible␈α⊂interface␈α⊂cards␈α⊂and␈α⊂our␈α⊂own␈α⊂manipulator␈α⊂interface␈α⊂to␈α∂couple␈α∂our␈α∂6␈α∂degree␈α∂of
␈↓ α,␈ββ@␈↓freedom␈α
all␈α
electric␈α
motor␈α
powered␈α
manipulator␈α
to␈α
this␈αpowerful␈α16bit␈αmicrocomputer.␈α_To
␈↓ α,␈ββ←␈↓actually␈α⊗operate␈α⊗the␈α⊗manipulator,␈α⊗we␈α⊗have␈α⊗developed␈α⊗a␈α⊗powerful␈α⊗manipulator␈α⊗control
␈↓ α,␈ββ}␈↓language␈α
named␈α
VAL.␈α~This␈α
easy␈α
to␈α
use␈α
language␈α
allows␈α
quickly␈α
trained␈α
operators␈αto␈αwrite
␈↓ α,␈β∧≥␈↓motion␈α∞programs␈α∞for␈α∞the␈α∞manipulator␈α∞and␈α∞to␈α∞perform␈α∞tasks␈α∞involving␈α∞manipulation,␈α
sensing,
␈↓ α,␈β∧<␈↓and␈αinteraction␈αwith␈αexternal␈αconditions.
␈↓ β∧␈β∧z␈↓Unimation␈α⊃proposes␈α⊃to␈α⊃adapt␈α⊃our␈α⊃basic␈α⊃system␈α⊃to␈α⊃this␈α⊃SES␈α⊃application.␈α!This␈α⊂will
␈↓ α,␈β¬→␈↓involve␈αconstruction␈αof␈αa␈αnew␈αcontrol␈αunit␈αin␈αa␈αnew␈αcabinet.␈α⊗The␈αcomputer␈αwill␈αremain␈αthe
␈↓ α,␈β¬8␈↓same,␈α
but␈α
additional␈α
modules␈α
will␈α
be␈α
added␈α
to␈α
handle␈α
the␈α
increased␈α
data␈α
inputs␈α
and␈αoutputs
␈↓ α,␈β¬W␈↓required.␈α_The␈αsoftware␈αwill␈αalso␈αbe␈αmodified␈αand␈αsimplified␈αto␈αtake␈αadvantage␈αof␈αthe␈αfewer
␈↓ α,␈β¬v␈↓degrees␈α⊂of␈α⊂manipulator␈α⊂freedom,␈α⊂and␈α⊂to␈α⊂speed␈α⊂up␈α⊂its␈α⊂performance␈α∂to␈α∂meet␈α∂the␈α∂operating
␈↓ α,␈βε∃␈↓requirements␈α⊃specified␈α⊃by␈α⊂HEDL.␈α In␈α⊂addition,␈α⊂other␈α⊂software␈α⊂features␈α⊂will␈α⊂be␈α⊂added␈α⊂to
␈↓ α,␈βε4␈↓meet␈αthe␈αspecific␈αcontrol,␈αmeasurement,␈αcommunication␈αand␈αdisplay␈αrequirements.
␈↓ β∧␈βεr␈↓We␈α∪feel␈α∪that␈α∪the␈α∪specifications␈α∩outlined␈α∩in␈α∩the␈α∩HEDL␈α∩RFQ␈α∩can␈α∩be␈α∩met␈α∩without
␈↓ α,␈βπ⊃␈↓excessive␈αdifficulty.␈α_Our␈αquotation␈αcovers␈αmeeting␈αthese␈αspecifications,␈αwith␈αthe␈αfollowing
␈↓ α,␈βπ0␈↓definitions␈αand␈αconditions␈αlisted␈αon␈αa␈αsection␈αby␈αsection␈αbasis.
␈↓ F␈β⎇␈↓[2]
␈↓ ∧i␈β↓H␈↓UNIMATION'S CONTROLLER FUNCTIONS
␈↓ α,␈βα%␈↓MACHINE CONTROL  
␈↓ α,␈βαD␈↓ 
␈↓ β∧␈βαc␈↓The␈α∞Unimation␈α∞SES␈α
controller␈α
will␈α
accept␈α
up␈α
to␈α
five␈α
29bit␈α
BCD␈α
parallel␈α
words,␈α
each
␈↓ α,␈ββα␈↓at␈α∞5␈α∞ms␈α∞intervals.␈α≤These␈α∞words␈α
will␈α
come␈α
from␈α
the␈α
Sundstrand␈α
resolver␈α
decoder␈α
and␈α
will
␈↓ α,␈ββ!␈↓consist␈α∞of␈α∞up␈α∞to␈α∞25␈α∞bits␈α∞of␈α∞BCD␈α∞data,␈α∞3␈α∞bits␈α∞of␈α∞joint␈α∞number,␈α∞and␈α
one␈α
bit␈α
strobe,␈α
all␈α
TTL
␈↓ α,␈ββ@␈↓compatible.␈α≤Two␈α∞DEC␈α∞DRV-11␈α∞parallel␈α∞interface␈α∞cards␈α∞in␈α∞our␈α∞unit␈α∞will␈α∞read␈α
these␈α
words.
␈↓ α,␈ββ←␈↓Our␈α∞LSI-11␈α∞and␈α∞its␈α∞software␈α∞will␈α∞compute␈α∞a␈α∞joint␈α∞velocity␈α∞command␈α∞based␈α∞on␈α
the␈α
current
␈↓ α,␈ββ}␈↓motion␈α∞instruction␈α
being␈α
executed.␈α~This␈α
velocity␈α
command␈α
will␈α
be␈α
linearly␈α
proportional␈α
to
␈↓ α,␈β∧≥␈↓the␈α→position␈α→error␈α_at␈α_the␈α_current␈α_point␈α_in␈α_the␈α_trajectory.␈α0Two␈α_or␈α_three␈α_slope
␈↓ α,␈β∧<␈↓proportionality␈α⊃will␈α⊃be␈α⊃used.␈α"The␈α⊃breakpoints␈α⊃and␈α⊃slope␈α⊃will␈α⊃be␈α⊃software␈α⊂adjustable␈α⊂at
␈↓ α,␈β∧[␈↓installation,␈α⊃but␈α⊃will␈α⊃be␈α⊃fixed␈α⊃during␈α⊃operation.␈α"This␈α⊃velocity␈α⊂command␈α⊂will␈α⊂be␈α⊂changed
␈↓ α,␈β∧z␈↓within␈α∃5␈α∃ms.␈α*of␈α∃reading␈α∃the␈α∃corresponding␈α∃joint.␈α∀No␈α∀lead,␈α∀lag,␈α∀integration␈α∀or␈α∀other
␈↓ α,␈β¬→␈↓compensation␈α⊃will␈α⊃be␈α⊃done␈α⊃in␈α⊃the␈α⊃computer.␈α"The␈α⊃controller␈α⊂will␈α⊂output␈α⊂up␈α⊂to␈α⊂5␈α⊂motor
␈↓ α,␈β¬8␈↓velocity␈α∀commands␈α∀through␈α∀five␈α∀12␈α∀bit␈α∪resolution␈α∪digital␈α∪to␈α∪analog␈α∪converters(+-10vdc
␈↓ α,␈β¬W␈↓range).␈α⊂Our␈α⊂computations␈α⊂will␈α⊂take␈α⊂into␈α⊂consideration␈α⊂maximum␈α⊂velocity␈α∂and␈α∂acceleration
␈↓ α,␈β¬v␈↓limits,␈α∞as␈α∞well␈α
as␈α
gripper␈α
position␈α
limits␈α
as␈α
defined␈α
by␈α
6␈α
planes(interpreted␈α
to␈α
mean␈α
3␈α
pairs
␈↓ α,␈βε∃␈↓of␈α
mutually␈α
perpendicular␈αplanes␈αintersecting␈αthe␈αx,y,and␈αz␈αaxes␈αrespectively).␈α_Computation
␈↓ α,␈βε4␈↓accuracy␈α
will␈α
be␈α
held␈α
to␈α
14␈α
bits(binary)␈α
or␈α2␈αbits␈αless␈αthan␈αinput␈αdata␈αresolution␈αwhichever
␈↓ α,␈βεS␈↓is␈α
less,␈α
on␈α
all␈α
mid␈α
trajectory␈α
computations.␈α_End␈αpoint␈αcomputation␈αaccuracy␈αwill␈αbe␈α16␈αbits
␈↓ α,␈βεr␈↓(17bits␈αfor␈αvertical␈αmotion␈αaxis)␈αor␈α1␈αbit␈αless␈αthan␈αinput␈αdata␈αresolution␈αwhichever␈αis␈αless.
␈↓ β∧␈βπO␈↓The␈α∞trajectory␈α∞generator␈α∞will␈α∞not␈α∞execute␈α∞a␈α∞trajectory␈α
which␈α
will␈α
take␈α
the␈α
gripper
␈↓ α,␈βπn␈↓into␈α∂a␈α∂restricted␈α∂region.␈α≡The␈α∂computer␈α∂will␈α∂also␈α∂accept␈α∂a␈α∂single␈α∂external␈α∂switch␈α∞closure
␈↓ α,␈βλ
␈↓indicating␈α
a␈α
mechanical␈α
limit␈α
has␈αbeen␈αreached.␈α_Normally,␈αsoftware␈αlimits␈αwould␈αbe␈αreached
␈↓ α,␈βλ,␈↓first.␈α∂While␈α∂the␈α∂manipulator␈α∂is␈α∂in␈α∂motion,␈α∂the␈α∂computer␈α∂will␈α∂sample,␈α∂at␈α∂25␈α∂ms␈α∂intervals,␈α∂a
␈↓ α,␈βλK␈↓BCD␈αor␈αbinary␈αsignal␈αindicating␈αthe␈αgripper␈αload.␈α↔All␈αmachine␈αmotion␈αwill␈αbe␈αstopped␈αshould
␈↓ α,␈βλj␈↓this␈α∞signal␈α∞exceed␈α∞software␈α
programmable␈α
limits.␈α~Sundstrand␈α
will␈α
provide␈α
the␈α
sensors,␈α
and
␈↓ α,␈β		␈↓the␈αBCD␈αor␈αBinary␈αoutput␈αfor␈αthis␈αgripper␈αload␈αlimiting␈αsignal.
␈↓ α,␈β	f␈↓OPERATOR INTERFACE
␈↓ β∧␈β
$␈↓Our␈αcontrol␈αsystem␈αwill␈αbe␈αhoused␈αin␈αone␈αstandard␈αfloor␈αmounted␈αcabinet.␈α_One␈αunit
␈↓ α,␈β
C␈↓in␈α∩this␈α∩cabinet␈α∩will␈α∩be␈α∩the␈α∩manual␈α∩control␈α∩panel.␈α$This␈α∩panel␈α∩will␈α∩have␈α∩all␈α⊃the␈α⊃control
␈↓ α,␈β
b␈↓capabilities␈α⊃listed␈α⊃in␈α⊃HEDL␈α⊃table␈α⊃3.5.1,␈α⊃and␈α⊃all␈α⊃the␈α⊃displays␈α⊃outlined␈α⊃in␈α⊂HEDL␈α⊂table␈α⊂3.5.2.
␈↓ α,␈β↓␈↓Where␈α
allowable,␈α
we␈α
will␈α
truncate␈α
the␈α
display␈α
to␈α
simplify␈α
our␈α
design␈α
and␈α
facilitate␈α
reading.
␈↓ α,␈β ␈↓Thus,␈α⊃although␈α⊃Sundstrand␈α⊃may␈α⊃supply␈α⊃25␈α⊃bit␈α⊃BCD,␈α⊃the␈α⊃displays␈α⊃may␈α⊃show␈α⊂less␈α⊂than␈α⊂6.5
␈↓ α,␈β?␈↓decimal␈α∪digits.␈α&The␈α∪manual␈α∪control␈α∪panel␈α∪will␈α∪be␈α∪directly␈α∪connected␈α∪to␈α∪the␈α∪computer
␈↓ α,␈β↑␈↓through␈α∪a␈α∪parallel␈α∪interface␈α∪dedicated␈α∪to␈α∪this␈α∪panel.␈α%An␈α∩additional␈α∩interface␈α∩card␈α∩will
␈↓ α,␈β⎇␈↓contain␈αregisters,␈αetc.␈αnecessary␈αfor␈αcontrol␈αof␈αthe␈αdisplays␈αand␈αfor␈αbuffering␈αmanual␈αswitch
␈↓ α,␈β≤␈↓inputs.␈α∞Where␈α∞required,␈α∞the␈α∞computer␈α∞will␈α∞refresh␈α
these␈α
displays␈α
at␈α
intervals␈α
of␈α
at␈α
least␈α
2
␈↓ α,␈β;␈↓seconds.␈α"To␈α⊃implement␈α⊃the␈α⊃x,y,z␈α⊃displays,␈α⊂all␈α⊂coordinate␈α⊂transformation,␈α⊂conversion␈α⊂and
␈↓ α,␈βZ␈↓scaling␈α∞will␈α∞be␈α∞done␈α
in␈α
software.␈α~All␈α
required␈α
alarms␈α
will␈α
meet␈α
the␈α
specifications␈α
outlined
␈↓ α,␈βy␈↓by␈α∪HEDL.␈α&Where␈α∪required,␈α∩the␈α∩alarms␈α∩will␈α∩be␈α∩directly␈α∩connected␈α∩to␈α∩the␈α∩alarm␈α∩signal
␈↓ α,␈β
_␈↓sources.
␈↓ β∧␈β
V␈↓Unimation␈α#will␈α#supply␈α"a␈α"commercially␈α"available␈α"RS-232C␈α"compatible␈α"CRT
␈↓ α,␈β
u␈↓terminal/display␈α∀with␈α∀a␈α∀standard␈α∀typewriter␈α∀like␈α∀keyboard␈α∀to␈α∀act␈α∀as␈α∀the␈α∪Programmed
␈↓ α,␈β∞∀␈↓Control␈α∞interface.␈α≤This␈α∞unit␈α∞will␈α∞be␈α∞separate␈α
and␈α
will␈α
connect␈α
to␈α
the␈α
control␈α
system␈α
unit
␈↓ α,␈β∞3␈↓through␈α∂a␈α∂standard␈α∂cable␈α∞and␈α∞communications␈α∞interface␈α∞connector␈α∞wired␈α∞as␈α∞in␈α∞HEDL␈α∞table
␈↓ α,␈β∞R␈↓3.5.3.␈α$This␈α⊃unit␈α⊃will␈α⊃connect␈α⊃directly␈α⊃to␈α⊃the␈α⊃LSI-11␈α⊃computer␈α⊃through␈α⊃a␈α⊃DEC␈α⊃standard
␈↓ α,␈β∞q␈↓DLV-11␈αserial␈αline␈αinterface␈αcard.␈αBaud␈αrate␈αwill␈αbe␈αjumper␈αselectable␈αas␈αrequired.
␈↓ β∧␈β∂/␈↓Control␈α∂of␈α∂the␈α∂manipulator␈α∂will␈α∂be␈α∂accomplished␈α∞by␈α∞either␈α∞selecting␈α∞manual␈α∞control
␈↓ F␈β⎇␈↓[3]
␈↓ α,␈β↓H␈↓panel␈α
mode␈α
and␈α
inputting␈α
data␈α
through␈α
switches,␈α
etc.,␈α
or␈αthrough␈αthe␈αCRT␈αterminal,␈αusing␈αa
␈↓ α,␈β↓g␈↓modified␈α∃version␈α∃of␈α∃the␈α∃Unimation␈α∃VAL␈α∃language.␈α)The␈α∀instructions␈α∀provided␈α∀in␈α∀this
␈↓ α,␈βαε␈↓language␈α
will␈α
be␈α
sufficient␈α
to␈α
perform␈α
all␈α
the␈α
HEDL␈α
required␈α
functions.␈α~The␈αCRT␈αterminal
␈↓ α,␈βα%␈↓will␈α⊂also␈α⊂be␈α⊂able␈α⊂to␈α⊂display␈α⊂all␈α⊂the␈α∂required␈α∂status␈α∂and␈α∂system␈α∂parameters␈α∂as␈α∂outlined␈α∂in
␈↓ α,␈βαD␈↓Table␈α3.5.2.␈α_This␈αwill␈αbe␈αdone␈αin␈αeasy␈αto␈αread␈αformat␈αon␈αone␈αpage␈α(full␈αscreen␈αimage)␈αof␈αthe
␈↓ α,␈βαc␈↓CRT.␈α_This␈αscreen␈αwill␈αbe␈αupdated␈αwhen␈αin␈αrepetitive␈αstatus␈αmode␈αat␈αintervals␈αof␈αat␈αleast␈α2
␈↓ α,␈ββα␈↓seconds.
␈↓ α,␈ββ←␈↓I&C COMPONENTS
␈↓ β∧␈β∧≥␈↓The␈α⊗Unimation␈α⊗electronics␈α⊗will␈α⊗be␈α⊗made␈α⊗up␈α⊗of␈α⊗standard␈α∃commercially␈α∃available
␈↓ α,␈β∧<␈↓components.␈α%Circuits␈α∩special␈α∩to␈α∩this␈α∩system␈α∩will␈α∩be␈α∩mounted␈α∩on␈α∩custom␈α∩made␈α∩printed
␈↓ α,␈β∧[␈↓circuit␈αboards␈αor␈αon␈αwire-wrap␈αpanels␈αas␈αrequired.␈α⊗Our␈αcontrol␈αsystem␈αunit␈αwill␈αcontain␈αall
␈↓ α,␈β∧z␈↓the␈αpower␈αsupplies,␈αcontrols,␈αdevices,␈αdisplays␈αetc.␈αas␈αrequired.␈α⊗We␈αwill␈αnot␈αsupply␈αany␈αhigh
␈↓ α,␈β¬→␈↓power␈α∂level␈α∂signals␈α∂to␈α∂the␈α∂manipulator␈α∂drives.␈α≡All␈α∂Sundstrand␈α∂supplied␈α∞signalsto␈α∞our␈α∞unit
␈↓ α,␈β¬8␈↓will␈αbe␈αTTL␈αlevel␈αdigital.
␈↓ α,␈βε∃␈↓CABLING AND CONNECTORS
␈↓ β∧␈βεS␈↓Our␈α⊂unit␈α⊂will␈α⊂be␈α⊂internally␈α⊂cabled␈α⊂to␈α⊂meet␈α⊂HEDL␈α⊂specifications.␈α All␈α∂interconnect
␈↓ α,␈βεr␈↓cables␈αof␈αour␈αunit␈αto␈αthe␈αmanipulator␈αor␈αpower␈αamplifier␈αunit␈αwill␈αbe␈αsupplied␈αby␈αSundstrand.
␈↓ α,␈βπ⊃␈↓All␈α∞input␈α∞signal␈α∞conditioning␈α∞is␈α∞the␈α∞responsibility␈α∞of␈α∞Sundstrand␈α∞or␈α∞HEDL.␈α≤We␈α∞will␈α∞supply
␈↓ α,␈βπ0␈↓high␈α⊃level␈α⊂(+-10␈α⊂vdc␈α⊂analog␈α⊂signals␈α⊂and␈α⊂buffered␈α⊂TTL␈α⊂output␈α⊂signals␈α⊂which␈α⊂can␈α⊂be␈α⊂run␈α⊂a
␈↓ α,␈βπO␈↓maximum␈α
of␈α
25␈α
feet.␈α~This␈α
will␈α
be␈α
the␈αmaximum␈αallowable␈αdistance␈αbetween␈αthe␈αSundstrand
␈↓ α,␈βπn␈↓manipulator␈αpower␈αsupply␈αand␈αour␈αcontroller␈αunit.
␈↓ β∧␈βλ,␈↓All␈α
cables␈α
and␈α
connectors␈αwill␈αmeet␈αthe␈αHEDL␈αAppendix␈αA␈αspecifications,␈αor␈αrevised
␈↓ α,␈βλK␈↓specifications␈α∂as␈α∂are␈α∂mutually␈α∂agreed␈α∂upon.␈α≡Anticipated␈α∞power␈α∞consumption␈α∞of␈α∞the␈α∞entire
␈↓ α,␈βλj␈↓Unimation␈αsupplied␈αunit␈αwill␈αnot␈αexceed␈α10␈αamps,␈α115vac.
␈↓ α,␈β	G␈↓OPERATOR CONTROL STATION
␈↓ β∧␈β
¬␈↓We␈αenvision␈αthe␈αoperator␈αcontrol␈αstation␈αas␈αconsisting␈αof␈αthe␈αcontrol␈αsystem␈αcabinet
␈↓ α,␈β
$␈↓with␈α
its␈α
front␈α
mounted␈α
manual␈α
control␈α
panel␈α
at␈α
above␈α
desk␈α
top␈α
height,␈α
and␈α
a␈αdesk␈αor␈αtable
␈↓ α,␈β
C␈↓supported␈α∂one␈α∂piece␈α∞CRT␈α∞terminal/display␈α∞unit␈α∞moveable␈α∞for␈α∞operator␈α∞convenience␈α∞in␈α∞use
␈↓ α,␈β
b␈↓while␈α∀visually␈α∀monitoring␈α∀the␈α∀ongoing␈α∀manipulator␈α∀operations.␈α(All␈α∪manual␈α∪control␈α∪and
␈↓ α,␈β↓␈↓display␈α
devices␈α
and␈αtheir␈αlayout␈αwill␈αbe␈αchosen␈αwith␈αcareful␈αattention␈αto␈αthe␈αhuman␈αfactors
␈↓ α,␈β ␈↓involved␈α∃in␈α∃interaction␈α∃with␈α∃the␈α∀manual␈α∀control␈α∀panel.␈α(Specific␈α∀manual␈α∀control␈α∀panel
␈↓ α,␈β?␈↓switches,␈αlights,␈αdisplays,␈αetc.␈αhave␈αnot␈αbeen␈αselected.␈α_Extra␈αspace␈αwill␈αbe␈αprovided␈αon␈αour
␈↓ α,␈β↑␈↓panels␈αand␈αin␈αour␈αcabinet␈αfor␈αBuyer's␈αfuture␈αcontrols,␈αdisplays␈αand␈αequipment.
␈↓ α,␈β;␈↓REMOTE COMPUTER INTERFACE
␈↓ β∧␈βy␈↓Gripper␈α∩position␈α∩in␈α∩X,Y,Z,␈α∩and␈α∩gripper␈α∩rotation␈α∩plus␈α∩machine␈α⊃status␈α⊃will␈α⊃be␈α⊃made
␈↓ α,␈β
_␈↓available␈α
at␈α
a␈α
series␈α
of␈α
bulkhead␈α
connectors␈α
mounted␈α
on␈α
the␈α
front␈α
of␈α
the␈α
controller.␈α→This
␈↓ α,␈β
7␈↓data␈αwill␈αbe␈αaccurate␈αto␈αat␈αleast␈α4␈αBCD␈αdigits,␈αand␈αwill␈αbe␈αupdated␈αat␈αintervals␈αof␈αa␈αminimum
␈↓ α,␈β
V␈↓of␈α∞2␈α∞seconds.␈α≤There␈α∞will␈α∞be␈α∞no␈α∞more␈α∞than␈α∞a␈α∞50ms␈α∞delay␈α∞between␈α∞measurement␈α
and␈α
signal
␈↓ α,␈β
u␈↓availability.␈α A␈α⊂new␈α⊂data␈α⊂ready␈α⊂type␈α⊂strobe␈α⊂bit␈α⊂will␈α⊂indicate␈α⊂new␈α⊂data␈α∂on␈α∂each␈α∂of␈α∂these
␈↓ α,␈β∞∀␈↓parallel␈α∀lines.␈α(These␈α∀connectors␈α∀will␈α∀probably␈α∀each␈α∪have␈α∪their␈α∪own␈α∪registers␈α∪but␈α∪be
␈↓ α,␈β∞3␈↓addressed␈αby␈αa␈αsingle␈αstandard␈αparallel␈αinterface␈αunit␈αon␈αthe␈αLSI-11␈αbus.
␈↓ β∧␈β∞q␈↓The␈α⊃moveable␈α⊃CRT␈α⊃terminal␈α⊃will␈α⊃be␈α⊃removeable␈α⊃by␈α⊃releasing␈α⊃its␈α⊃connector␈α⊂and␈α⊂a
␈↓ α,␈β∂⊂␈↓remote␈α⊃computer␈α⊃may␈α⊃be␈α⊃connected␈α⊃to␈α⊃this␈α⊃same␈α⊃standard␈α⊃parallel␈α⊃port.␈α!However,␈α⊂any
␈↓ α,␈β∂/␈↓changes␈αin␈αbaud␈αrate␈αmust␈αbe␈αdone␈αmanually␈αon␈αthe␈αDEC␈αstandard␈αDLV-11␈αinterface␈αcard.
␈↓ F␈β⎇␈↓[4]
␈↓ α,␈βαε␈↓PROCESS I/O INTERFACE
␈↓ β∧␈βαD␈↓The␈αinterface␈αwe␈αcurrently␈αuse␈αfor␈αinterfacing␈αbetween␈αthe␈αUnimation␈αcomputer␈αand
␈↓ α,␈βαc␈↓our␈α∂computer␈α∂controlled␈α∂manipulators␈α∂has␈α∂the␈α∂ability␈α∂to␈α∂handle␈α∂up␈α∂to␈α∂32␈α∂channels␈α∂of␈α∞high
␈↓ α,␈ββα␈↓level(+-10vdc)␈α⊂analog␈α⊂signals,␈α⊂plus␈α⊂8␈α⊂analog␈α⊂signal␈α⊂outputs,␈α⊂plus␈α⊂16␈α∂binary␈α∂output␈α∂channels
␈↓ α,␈ββ!␈↓plus␈α
16␈α
binary␈α
input␈α
channels.␈α~We␈α
propose␈α
to␈α
use␈αan␈αinterface␈αsimilar␈αto␈αthis␈αstandard␈αone
␈↓ α,␈ββ@␈↓of␈α∞ours␈α∞to␈α∞meet␈α∞the␈α∞requirements␈α∞of␈α∞this␈α∞section.␈α≠Additional␈α
electronic␈α
hardware␈α
will␈α
be
␈↓ α,␈ββ←␈↓provided␈α∂to␈α∂implement␈α∂hardware␈α∞motion␈α∞interlocks␈α∞to␈α∞parallel␈α∞software␈α∞control␈α∞interlocks
␈↓ α,␈ββ}␈↓as␈α∂required.␈α∂Plug-in␈α∂spare␈α∂capability␈α∂will␈α∂be␈α∞provided␈α∞in␈α∞the␈α∞form␈α∞of␈α∞extra␈α∞space␈α∞for␈α∞user
␈↓ α,␈β∧≥␈↓communications␈α∞equipment.␈α≤The␈α∞spare␈α∞channels␈α
will␈α
not␈α
be␈α
supplied␈α
as␈α
part␈α
of␈α
this␈α
quote-
␈↓ α,␈β∧<␈↓just␈α∂the␈α∂capability␈α∂of␈α∞installing␈α∞them,␈α∞and␈α∞the␈α∞necessary␈α∞space(part␈α∞of␈α∞the␈α∞required␈α∞3␈α∞feet
␈↓ α,␈β∧[␈↓vertical␈αrack␈αspace).
␈↓ β∧␈β¬→␈↓Calibration␈α∂and␈α∂fuctional␈α∂check␈α∂will␈α∞be␈α∞implemented␈α∞by␈α∞physically␈α∞disconnecting␈α∞the
␈↓ α,␈β¬8␈↓data␈α∂channel␈α∂connectors␈α∂and␈α∂installing␈α∂a␈α∂Unimation␈α∂supplied␈α∂connector␈α∂which␈α∂will␈α∂connect
␈↓ α,␈β¬W␈↓each␈α⊃analog␈α⊃channel␈α⊃to␈α⊃a␈α⊂precision␈α⊂voltage␈α⊂source.␈α A␈α⊂software␈α⊂routine␈α⊂will␈α⊂individually
␈↓ α,␈β¬v␈↓check␈α∞all␈α∞analog␈α∞channels,␈α∞and␈α∞record␈α∞these␈α∞readings␈α∞for␈α
later␈α
scaling␈α
and␈α
calibrating.␈α~The
␈↓ α,␈βε∃␈↓accuracy␈α
of␈α
the␈α
reference␈α
supply␈α
will␈α
be␈α
to␈α
within␈α
.025%.␈α~This␈α
will␈α
allow␈αcalibration␈αof␈α10
␈↓ α,␈βε4␈↓bit␈α∞resolution␈α∞(one␈α∞part␈α
in␈α
1024)␈α
analog␈α
signal␈α
channels␈α
with␈α
full␈α
scale␈α
voltages␈α
of␈α
+-10vdc.
␈↓ α,␈βεS␈↓Only␈αone␈αreference␈αsupply␈αis␈αincluded.␈αThus,␈αall␈αchannels␈αmust␈αbe␈αexternally␈αconditioned␈αand
␈↓ α,␈βεr␈↓scaled␈αto␈αhave␈αa␈α+-10vdc␈αvoltage␈αrange.
␈↓ α,␈βπO␈↓DIGITAL PROCESSOR
␈↓ β∧␈βλ
␈↓As␈α⊃mentioned␈α⊃earlier,␈α⊃a␈α⊃single␈α⊃Digital␈α⊃Equipment␈α⊂Corporation␈α⊂LSI-11␈α⊂series␈α⊂digital
␈↓ α,␈βλ,␈↓microprocessor␈α_model␈α_KD-11F␈α_will␈α↔perform␈α↔all␈α↔the␈α↔data␈α↔handling,␈α↔computations,␈α↔and
␈↓ α,␈βλK␈↓communications␈α∀processing␈α∀relating␈α∀to␈α∀Unimation's␈α∀control␈α∀system␈α∀unit.␈α(An␈α∪additional
␈↓ α,␈βλj␈↓microprocessor␈α∞may␈α∞also␈α∞be␈α∞part␈α∞of␈α∞the␈α∞CRT␈α∞terminal,␈α∞but␈α∞this␈α
will␈α
be␈α
an␈α
integral␈α
part␈α
of
␈↓ α,␈β		␈↓such␈α∪terminal␈α∪and␈α∪not␈α∪individually␈α∪identifiable.␈α∩Numerous␈α∩Digital␈α∩Equipment␈α∩Corporation
␈↓ α,␈β	(␈↓standard␈α∞interface␈α∞cards␈α∞will␈α∞also␈α∞be␈α∞used.␈α≤These␈α∞will␈α∞include␈α∞their␈α
DLV-11,␈α
and␈α
DRV-11
␈↓ α,␈β	G␈↓cards.
␈↓ β∧␈β
¬␈↓A␈α⊂processor␈α⊂failure␈α∂detection␈α∂system␈α∂consisting␈α∂of␈α∂a␈α∂resettable␈α∂one-shot␈α∂which␈α∂is
␈↓ α,␈β
$␈↓reset␈α↔at␈α↔intervals␈α↔not␈α↔exceeding␈α↔2␈α↔seconds␈α↔when␈α↔not␈α⊗executing␈α⊗manipulator␈α⊗motion
␈↓ α,␈β
C␈↓programs,␈αand␈αreset␈αat␈αintervals␈αnot␈αexceeding␈α100ms.␈αwhen␈αexecuting␈αmotion␈αprograms␈αwill
␈↓ α,␈β
b␈↓trigger␈α∞an␈α∞annunciator␈α∞in␈α∞the␈α∞event␈α∞of␈α∞computer␈α∞failure.␈α∞Manipulator␈α∞halt␈α
hardware␈α
is␈α
also
␈↓ α,␈β↓␈↓included␈αin␈αthis␈αdetection␈αsystem.
␈↓ β∧␈β?␈↓The␈αtiming␈αand␈αupdate␈αrate␈αof␈αall␈αcomputations␈αhas␈αbeen␈αcalculated␈αto␈αgive␈αthe␈αLSI-11
␈↓ α,␈β↑␈↓processor␈α
a␈α
minimum␈α
average␈α
40%␈α
spare␈α
computation␈α
time.␈α_This␈αaverage␈αwill␈αbe␈αduring␈αany
␈↓ α,␈β⎇␈↓2␈αminute␈αperiod.
␈↓ β∧␈β;␈↓Sufficient␈α∂extra␈α∂RAM␈α∂memory␈α∂will␈α∂be␈α∂provided␈α∂to␈α∂meet␈α∂the␈α∂40%␈α∂spare␈α∂addressable
␈↓ α,␈βZ␈↓memory␈α
requirements.␈α~The␈α
as␈α
delivered␈α
system␈α
will␈α
use␈α
a␈α
maxumum␈α
of␈α
12k␈α
memory.␈α→The
␈↓ α,␈βy␈↓LSI-11␈α∞can␈α∞address␈α∞28k.␈α≤Thus,␈α∞memory␈α∞up␈α∞to␈α∞16k␈α∞additional␈α∞may␈α∞be␈α∞added␈α∞as␈α∞required␈α∞by
␈↓ α,␈β
_␈↓the␈αuser.
␈↓ α,␈β
u␈↓SOFTWARE
␈↓ β∧␈β∞3␈↓A␈α∂modified␈α∂and␈α∂abreviated␈α∂version␈α∂of␈α∞the␈α∞Unimation␈α∞VAL␈α∞language␈α∞will␈α∞be␈α∞supplied
␈↓ α,␈β∞R␈↓with␈α∞our␈α
proposed␈α
system.␈α~This␈α
language␈α
is␈α
coded␈α
in␈α
Assembly␈α
language␈α
and␈α
is␈α
modular␈α
in
␈↓ α,␈β∞q␈↓construction␈α⊂and␈α⊂implementation.␈α All␈α⊂calling␈α⊂sequences␈α⊂and␈α∂argument␈α∂list␈α∂construction␈α∂is
␈↓ α,␈β∂⊂␈↓consistent␈α⊗and␈α⊗clear.␈α,All␈α∃source␈α∃code␈α∃is␈α∃well␈α∃documented␈α∃for␈α∃ease␈α∃of␈α∃tracing␈α∃and
␈↓ α,␈β∂/␈↓understanding.␈α.Coding␈α↔of␈α↔new␈α↔routines␈α↔and␈α↔functions␈α↔is␈α↔easily␈α↔done␈α↔by␈α↔a␈α↔trained
␈↓ F␈β⎇␈↓[5]
␈↓ α,␈β↓H␈↓programmer␈α
familiar␈α
with␈α
DEC␈α
PDP-11␈α
assembly␈α
language,␈αand␈αcapable␈αof␈αunderstanding␈αthe
␈↓ α,␈β↓g␈↓coordinate␈α⊃transformations␈α⊃and␈α⊂other␈α⊂math␈α⊂routines␈α⊂utilized␈α⊂in␈α⊂the␈α⊂programs.␈α The␈α⊂VAL
␈↓ α,␈βαε␈↓language␈α
has␈α
been␈α
developed␈α
over␈α
a␈αperiod␈αof␈αseveral␈αyears␈αand␈αis␈αreliable,␈αbug␈αfree,␈αeasily
␈↓ α,␈βα%␈↓implemented,␈αwell␈αconstructed,␈αand␈αclear␈αin␈αfunction␈αand␈αpurpose.
␈↓ β∧␈βαc␈↓The␈αsource␈αcode␈αfor␈αthe␈αoperating␈αsystem␈αsupplied␈αwill␈αbe␈αdelivered␈αto␈αthe␈αend␈αuser
␈↓ α,␈ββα␈↓under␈α∞a␈α∞license␈α∞agreement␈α∞and␈α
a␈α
proprietary␈α
information,␈α
non-dislosure␈α
agreement␈α
applying
␈↓ α,␈ββ!␈↓to␈α⊂each␈α⊂application␈α⊂of␈α⊂the␈α∂software␈α∂and␈α∂to␈α∂all␈α∂applications␈α∂of␈α∂software␈α∂derived␈α∂from␈α∂the
␈↓ α,␈ββ@␈↓supplied␈αsource␈αcode.
␈↓ α,␈β∧≥␈↓DRAWINGS
␈↓ β∧␈β∧[␈↓Unimation␈α⊃will␈α⊃supply␈α⊃all␈α⊃necessary␈α⊃drawings␈α⊃at␈α⊃the␈α⊃intervals␈α⊂required␈α⊂and␈α⊂in␈α⊂the
␈↓ α,␈β∧z␈↓format␈αrequired␈αby␈αHEDL␈αto␈αmeet␈αthe␈αspecifications␈αof␈αSection␈α3.8␈αof␈αHWS-9437.
␈↓ α,␈β¬W␈↓REPORTS AND DOCUMENTATION
␈↓ β∧␈βε∃␈↓Unimation␈α
will␈α
submit␈α
all␈α
the␈α
required␈α
plans␈αand␈αreports␈αas␈αrequired␈αby␈αtheir␈αpart␈αof
␈↓ α,␈βε4␈↓section␈α3.9␈αof␈αHWS-9437.
␈↓ α,␈βπ⊃␈↓ACCEPTANCE TESTING
␈↓ β∧␈βπO␈↓This␈αcontract␈αwill␈αinclude␈αdelivery␈αof␈αthe␈αfirst␈αunit␈αto␈αSundstrand␈αand␈αdemonstration
␈↓ α,␈βπn␈↓of␈α∩that␈α⊃unit␈α⊃at␈α⊃Sundstrand␈α⊃facilities␈α⊃as␈α⊃part␈α⊃of␈α⊃their␈α⊃Preliminary␈α⊃Acceptance␈α⊃Test.␈α"All
␈↓ α,␈βλ
␈↓additional␈α⊃units␈α⊃will␈α⊃be␈α⊃tested␈α⊃or␈α⊃demonstrated␈α⊃at␈α⊃Unimation␈α⊃facilities␈α⊃and␈α⊃will␈α⊂be␈α⊂FOB
␈↓ α,␈βλ,␈↓Unimation␈αplant.
␈↓ α,␈β		␈↓WARRANTY
␈↓ β∧␈β	G␈↓All␈α∂warranty␈α∂requirements␈α∂made␈α∂by␈α∂HEDL␈α∂as␈α∂part␈α∂of␈α∂this␈α∞contract␈α∞and␈α∞applying␈α∞to
␈↓ α,␈β	f␈↓our␈αpart␈αof␈αthe␈αI&C␈αsystem␈αwill␈αbe␈αaccepted␈αby␈αand␈αbacked␈αby␈αUnimation.