perm filename INST.M[1,VDS] blob sn#172160 filedate 1975-08-06 generic text, type C, neo UTF8
C00001 00001
C00002 00002			INSTALLATION 
C00007 ENDMK

	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.