COMMENT ⊗   VALID 00027 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00003 00002		ARM-COMPUTER INTERFACE FOR PDP-11 AND LSI 11 COMPUTERS
C00005 00003				PRELIMINARIES
C00007 00004	ANALOG POWER
C00009 00005	OUT 00 B
C00010 00006	OUT 08 B
C00011 00007	BRAKE OUT
C00012 00008	
C00013 00009	LOAD DACS
C00014 00010	
C00015 00011	GNDS
C00016 00012	
C00017 00013	AD OUTPUTS
C00018 00014	MPXR ADDRS
C00020 00015	
C00021 00016				CONNECTOR WIRING -P2
C00025 00017				CONNECTOR WIRING -P3
C00027 00018				CONNECTOR WIRING -P1
C00029 00019				CONNECTOR WIRING -P4
C00030 00020				DAC CONNECTIONS -D0
C00031 00021				DAC CONNECTIONS -D1
C00032 00022				DAC CONNECTIONS -D2
C00033 00023				DAC CONNECTIONS -D3
C00034 00024				DAC CONNECTIONS -D4
C00035 00025				DAC CONNECTIONS -D5
C00036 00026				DAC CONNECTIONS -D6
C00037 00027				DAC CONNECTIONS -D7
C00038 ENDMK
C⊗;
	ARM-COMPUTER INTERFACE FOR PDP-11 AND LSI 11 COMPUTERS

INTRODUCTION

	This wire list is for a single board computer interface
for a DEC PDP-11 series computer.  It is intended to be used
with a DEC DR-11C or DRV-11 general device interface card.

The computer is interfaced thru two 40 pin connectors.
The arm is interfaced thru two 50 pin connectors.

The interface contains a 12 bit A/D (+-10vdc), 32 channels of
multiplexing, and a buffer amplifier for reading analog signals.

There are also 8 12 bit DACs (+-10vdc output) foroutputting analog
signals to the arm.

The interface can read binary (TTL levels) from the arm- Touch and
Tolerance bits plus Panic.  

The interface can set the arm servo mode with 8 Mode bits of output.

The interface can output 10 binary bits (brake bits) to the arm.

Interrupts can be obtained on the AND of all Tolerance Bits and on the
OR of Touch and Panic Bits.

Power requirements are +-15vdc, and +5vdc.


			PRELIMINARIES

Modifications to bare MDB-11WWB board.

ALL COMPONENTS ARE ADDED TO PIN SIDE OF BOARD AND SOLDERED ON OPPOSITE SIDE.


CAPACITORS:

Add .01 axial lead bypass caps in all DIP socket places EXECPT 9E,9F,9H,10E,10F,10H.

Add 22 mfd tantalum caps alongside 10A, 10D, 10F.

Add 1 mfd. tantalum caps. in 12 places as shown in supplied sketch.



SOCKETS

Add 14 pin TI sockets with NOTCH AND BIAS TOWARDS CARD HANDLES SIDE in the
	following locations.  2C, 3E, 1H, 2H, 2E, 5F, and all other 14 pin
	pattern locations on board.

Add 16 pin AUGAT sockets in the following locations- 9E, 9F, 9H, 10F, 10H.

Add 16 pin TI sockets in all other 16 pin pattern places.

Add LSI socket strips per supplied sketch.


CONNECTORS

Add 2 BERG 50 pin sockets on HANDLE EDGE OF BOARD

Add 2 BERG 40 pin sockets on P1, P4 EDGE OF BOARD.  BIAS TOWARDS LABELS "P1" AND "P4".



TRACE MODIFICATIONS


TOP (PIN) SIDE

Cut GND Buss jumper to pin 16 on 9E,9F,9H,10F,10H, AND ALL LSI SOCKETS.


BOTTOM SIDE

Cut jumpers between pins 7 and 8 on 1H, 2C, 2E, 2H, 3E, 5F, 9E, 9F, 9H, 10F, 10H.

Cut +5 BUSS jumper to pin 8 on  9E, 9F, 9H, 10F, 10H, AND ALL LSI SOCKETS.
ANALOG POWER

+15
    S	8D17   
	9E9
	9E15
	9F13
	9H13
	10F13
	10H13


	DH1
	4A22
	4B22
	4C22
	4D22
	4E22

	FH1
	8A22
	8B22
	8C22
	8D17

	
-15
   S	8D25
	9E10
	9E4
	9F3
	9H3
	10F3
	10H3


	DK1
	4A14
	4B14
	4C14
	4D14
	4E14


	FK1
	8A14
	8B14
	8C14
	8D25

+5
	4A13
	4B13
	4C13
	4D13
	4E13
	8A13
	8B13
	8C13
	8D7
	8D9


GND
	9E7
	9E8
	9F14
	9H14
	10F14
	10H14
   S	GND NEAR 8D15


GND- SOLDER INDIVIDUALLY TO GND. BUSS- (TOP SIDE)

S	4A21
S	4B21
S	4C21
S	4D21
S	4E21
S	8A21
S	8B21
S	8C21
S	8D10
S	8D15


Hold Downs (no other function)

	6H14
	5H14

2 PLACES ON CARD EDGE CONNECTOR


OUT 00 B
	2E2
	5E3
	5D3
	5C3
	5B3
	6B3
	9B3
	9C3
	9D3


OUT 01 B
	2E4
	5E4
	5D4
	5C4
	5B4
	6B4
	9B4
	9C4
	9D4
	

OUT 02 B
	2E6
	5E6
	5D6
	5C6	
	5B6
	6B6
	9B6
	9C6
	9D6
	

OUT 03 B
	2E10
	5E14
	5D14
	5C14
	5B14
	6B14
	9B14
	9C14
	9D14
	

OUT 04 B
	2E12
	5E13
	5D13
	5C13
	5B13
	6B13
	9B13
	9C13
	9D13
	

OUT 05 B
	2E14
	5E11
	5D11
	5C11
	5B11	
	6B11
	9B11
	9C11
	9D11


OUT 06 B
	3E2
	6D3
	6C3
	7B3
	7C3
	7D3
	10D3
	10C3
	10B3
	

OUT 07 B
	3E4
	6D4
	6C4
	7B4
	7C4
	7D4
	10D4
	10C4
	10B4
	

OUT 08 B
	3E6
	6D6
	6C6
	7B6
	7C6
	7D6
	10D6
	10C6
	10B6


OUT 09 B
	3E10
	6D14
	6C14
	7B14
	7C14
	7D14
	10D14
	10C14
	10B14


OUT 10 B
	3E12
	6D13
	6C13
	7B13
	7C13
	7D13
	10D13
	10C13
	10B13
	

OUT 11 B
	3E14
	5A12
	5A2
	6A12
	6A2
	7A2
	7A12
	10A2
	10A12


OUT 12 B
	6H10
	6D11
	6C11
	7B11
	7C11
	7D11
	10D11
	10C11
	10B11


STOP A
	2F1
	1F1
	2C2
	5A1
	5A13
	5B1
	6B1
	7B1
	7C1
	

STOP B
	2C4
	5D1
	7D1
	6C1
	5C1
	6A1
	6A13


STOP C
	2C6
	5E1
	6D1
	7A1
	7A13
	9B1
	10B1


STOP -
	2B13
	2A10
	10A1
	10A13
	10C1
	9C1
	9D1
	10D1
	
BRAKE OUT

	1F2
	1H1


	1F5
	1H3


	1F7
	1H5


	1F15
	1H11


	1F12
	1H13


	1F10
	1H15


	2F2
	2H3


	2F5
	2H5


	2F7
	2H11


	2F15
	2H13



	2F12
	3B2


	2F10
	2C11


MODE BUFFERS

	7B10
	3H1


	7C10
	3H3


	6C10
	3H5


	7D10
	3H9


	6D10
	3H11


	10B10
	3H13


	10C10
	2H1


	10D10
	2H15


LD DACS

	1D9
	5A3
	6B9
	7B9


	1D10
	5A11
	5B9
	7C9
	


	1D11
	6A3
	5C9
	6C9


	1D12
	6A11
	5D9
	7D9


	1D7
	5E9
	6D9
	7A3


	1D6
	7A11
	9B9
	10B9


	1D5
	9C9
	10C9
	10A3


	1D4
	9D9
	10D9
	10A11
LOAD DACS

	1C7
	1D2
	1D15


LOAD BRAKES

	1C6
	1F9
	2F9


LOAD AD MPX

	1C5
	2D9
	2B10
	1A12


RD AD

	1C12
	2C13
	1A9
	6E1
	6F1
	7E1
	7F1

¬RD AD

	2C12
	1A4


STOP X
	2B4
	2C1
	2C3
	2C5
	1C2


INT CTRL[TOL]

	2A5
	1A1


INT CTRL[TOUCH]

	2A8
	1A2


	6H6
	3A3
	

	2C14
	3A1


	1A11
	2C15


	1A8
	1A13


	1A6
	2A4
	2A13


	3B4
	2A3


	3B12
	2A11


	5F10
	3B1
	2A2


	5H8
	3B10
	2A12


	2C10
	3B9


GNDS
	6H9
	6H7


	2B1
	2C8


	2B9
	1B8


	3D9
	2D8


HI
	6H8
	10A4
	10A10
	7A4
	7A10
	6A4
	6A10
	5A4
	5A10
	3A4
	3A2
	2A1
	2B11
	3B11
	3B3
	2D1
	3D11

GND
	1C15
	1C14
	1C8


PANIC
	7E14
	6H12
	5H12
	2B3














	6E15
	7E15
	6F15
	7F15
	1C10 (gnd).


ONE-SHOT TIMING

	3C16
	3C14
	3C12


	3B15
	3C5


	3B14
	3C11


	3B7
	3C3


	3B6
	3C13


	2B7
	3C1


	2B6
	3C15


	2B15
	1B15


	2B14
	1B9
AD OUTPUTS
S	8D27
	6E3


S	8D28
	6E6


S	8D29
	6E10


S	8D30
	6E13


S	8D31
	7E3


S	8D32
	7E6


S	8D1
	7E10


S	8D2
	7E13


S	8D3
	6F3


S	8D4
	6F6


S	8D5
	6F10


S	8D6
	6F13
MPXR ADDRS
	2D2
	9F1
	9H1
	10H1
	10F1


	2D5
	9F16
	9H16
	10H16
	10F16


	2D7
	9F15
	9H15
	10H15
	10F15


	2D10
	6H1
	7H5
	7H13


	2D12
	6H3
	7H9
	7H12


	6H2
	7H2
	7H10


	6H4
	7H1
	7H4
	

	7H11
	9H2


	7H8
	9F2


	7H6
	10H2	


	7H3
	10F2


MPXR OUT[ANALOG]
	9H8
	10H8
	10F8
	9F8
	9E3


	9E14
S	8D14


S	8D22
	6H5


	3D5
S	8D18


	3D10
	2B12


	3D7
	3C7


DATA OUT
	2E1
	2D3
	1F3


	2E3
	2D4
	1F4


	2E5
	2D6
	1F6


	2E11
	2D11
	1F14


	2E13
	2D13
	1F13


	2E15
	1F11


	3E1
	2F3


	3E3
	2F4


	3E5
	2F6


	3E11
	2F14


	3E13
	2F13


	3E15
	2F11


	1D1
	1D14


	1A5
	1A10


	1C1
	2B2


S	8D11
S	8D12


S	8D21
S	8D20
S	8D19   
	+5VDC


	5F1
	6F2


	5F2
	6F5


	5F3
	6F11


	5F4
	6F14

	
	5F5
	7F2


	5F6
	7F5


	5F13
	7F11


	5F14
	7F14



	5H1
	6E2


	5H2
	6E5


	5H3
	6E11


	5H4
	6E14


	5H5
	7E2


	5H6
	7E5


	5H11
	7E11

			CONNECTOR WIRING -P2

		Connector P2  - 50 pin- Digital Signals Only

FROM    TO		FUNCTION
P2	

1	GND
2	5F14		TOLERANCE BIT 07
3	5F13		TOLERANCE BIT 06
4	5F6		TOLERANCE BIT 05
5	5F5		TOLERANCE BIT 04

6	5F4		TOLERANCE BIT 03
7	5F3		TOLERANCE BIT 02
8	5F2		TOLERANCE BIT 01
9	5F1		TOLERANCE BIT 00
10	GND

11	6H13		PANIC
12	5H11		TOUCH 06
13	5H6		TOUCH 05
14	5H5		TOUCH 04
15	GND

16	5H4		TOUCH 03
17	5H3		TOUCH 02
18	5H2		TOUCH 01
19	5H1		TOUCH 00
20	GND

21	2H14		MODE (CURRENT/POSITION) 07
22	2H2		MODE 06
23	3H12		MODE 05
24	3H10		MODE 04
25	GND

26	3H8		MODE 03
27	3H6		MODE 02
28	3H4		MODE 01
29	3H2		MODE 00
30	GND

31
32
33
34
35	GND

36
37
38	2H12		BRAKE 09
39	2H10		BRAKE 08
40	GND

41	2H6		BRAKE 07
42	2H4		BRAKE 06
43	1H14		BRAKE 05
44	1H12		BRAKE 04
45	GND

46	1H10		BRAKE 03
47	1H6		BRAKE 02
48	1H4		BRAKE 01
49	1H2		BRAKE 00
50	GND
			CONNECTOR WIRING -P3

		Connector P3 - 50pin- Analog Signals only

FROM	TO		FUNCTION
P3

1	GND
2	8C15		DAC 07
3	8B15		DAC 06
4	8A15		DAC 05
5	4E15		DAC 04

6	4D15		DAC 03
7	4C15		DAC 02
8	4B15		DAC 01
9	4A15		DAC 00
10	GND

11	9H9		A/D 31
12	9H10		A/D 30
13	9H11		A/D 29
14	9H12		A/D 28
15	GND

16	9H7		A/D 27
17	9H6		A/D 26
18	9H5		A/D 25
19	9H4		A/D 24
20	GND		

21	9F9		A/D 23
22	9F10		A/D 22
23	9F11		A/D 21
24	9F12		A/D 20
25	GND

26	9F7		A/D 19
27	9F6		A/D 18
28	9F5		A/D 17
29	9F4		A/D 16
30	GND

31	10H9		A/D 15
32	10H10		A/D 14
33	10H11		A/D 13
34	10H12		A/D 12
35	GND

36	10H7		A/D 11
37	10H6		A/D 10
38	10H5		A/D 09
39	10H4		A/D 08
40	GND

41	10F9		A/D 07
42	10F10		A/D 06
43	10F11		A/D 05
44	10F12		A/D 04
45	GND

46	10F7		A/D 03
47	10F6		A/D 02
48	10F5		A/D 01
49	10F4		A/D 00
50	GND




			CONNECTOR WIRING -P1

		Connector P1 - 40 pin - To connector J1 on DRV-11

From	To
P1

1	1C1			NEW DATA READY
2	GND
3
4	GND
5	

6	GND
7	2E5			OUT 02
8	GND
9	3A5			REQ A
10	GND

11	1D14			OUT 15
12	1D3			OUT 14
13	1D13			OUT 13
14	GND
15	1C3			CSR 1
 
16	GND
17	6H11			OUT 12
18	3E15			OUT 11
19	3E13			OUT 10
20	GND

21	3E11			OUT 09
22	3E5			OUT 08
23	GND
24	2E11			OUT 03
25	3E3			OUT 07

26	GND			
27	3E1			OUT 06
28
29	2E15			OUT 05
30	GND

31	2E13			OUT 04
32	2E3			OUT 01
33	GND
34
35	1C10			READ ENCODERS (TO ENCODER BOARD) RD ENCD

36
37	1C4			LOAD ENCODERS (TO ENCODER BOARD) LD ENCD
38	2E1			OUT 00
39
40
			CONNECTOR WIRING -P4

		Connector P4 - 40 pins - To conncetor J2 on DRV-11

From	To			Function
P4

1
2	GND
3	6E4			IN00
4	GND
5

6	GND
7
8	GND
9	6E7			IN01
10	7E4			IN04

11	GND
12	7E7			IN05
13
14	7E9			IN06
15	GND

16	7E12			IN07
17	6E12			IN03
18	GND
19	6F4			IN08
20	6F7			IN09

21	GND
22	6F9			IN10
23	6F12			IN11
24	7F4			IN12
25	GND

26	1A3			REQ B
27	GND
28	7F9			IN13
29	7F7			IN14
30	7F12			IN15

31	GND
32	1C13			CSR0
33	GND
34	6E9			IN02
35

36
37
38	1A5			DATA TRANSMITTED
39
40
			DAC CONNECTIONS -D0

DAC D0


FROM	TO

6B2	4A12
6B5	4A11
6B7	4A10
6B15	4A9
6B12	4A8
6B10	4A7

7B2	4A6
7B5	4A5
7B7	4A4
7B15	4A3
7B12	4A2

5A6	4A1

4A15	4A19
4A24	4A16
4A20	4A17

			DAC CONNECTIONS -D1

DAC D1

FROM	TO

5B2	4B12
5B5	4B11
5B7	4B10
5B15	4B9
5B12	4B8
5B10	4B7

7C2	4B6
7C5	4B5
7C7	4B4
7C15	4B3
7C12	4B2

5A8	4B1

4B15	4B19
4B24	4B16
4B20	4B17

			DAC CONNECTIONS -D2

DAC D2

FROM	TO

5C2	4C12
5C5	4C11
5C7	4C10
5C15	4C9
5C12	4C8
5C10	4C7

6C2	4C6
6C5	4C5
6C7	4C4
6C15	4C3
6C12	4C2

6A6	4C1

4C15	4C19
4C24	4C16
4C20	4C17
			DAC CONNECTIONS -D3

DAC D3

FROM	TO

5D2	4D12
5D5	4D11
5D7	4D10
5D15	4D9
5D12	4D8
5D10	4D7

7D2	4D6
7D5	4D5
7D7	4D4
7D15	4D3
7D12	4D2

6A8	4D1

4D15	4D19
4D24	4D16
4D20	4D17
			DAC CONNECTIONS -D4

DAC D4

FROM	TO

5E2	4E12
5E5	4E11
5E7	4E10
5E15	4E9
5E12	4E8
5E10	4E7
 
6D2	4E6
6D5	4E5
6D7	4E4
6D15	4E3
6D12	4E2

7A6	4E1

4E15	4E19
4E24	4E16
4E20	4E17
			DAC CONNECTIONS -D5

DAC D5

FROM	TO

9B2	8A12
9B5	8A11
9B7	8A10
9B15	8A9
9B12	8A8
9B10	8A7
 
10B2	8A6
10B5	8A5
10B7	8A4
10B15	8A3
10B12	8A2

7A8	8A1

8A15	8A19
8A24	8A16
8A20	8A17
			DAC CONNECTIONS -D6

DAC D6

FROM	TO

9C2	8B12
9C5	8B11
9C7	8B10
9C15	8B9
9C12	8B8
9C10	8B7
 
10C2	8B6
10C5	8B5
10C7	8B4
10C15	8B3
10C12	8B2

10A6	8B1

8B15	8B19
8B24	8B16
8B20	8B17
			DAC CONNECTIONS -D7

DAC D7

FROM	TO

9D2	8C12
9D5	8C11
9D7	8C10
9D15	8C9
9D12	8C8
9D10	8C7
 
10D2	8C6
10D5	8C5
10D7	8C4
10D15	8C3
10D12	8C2

10A8	8C1

8C15	8C19
8C24	8C16
8C20	8C17