perm filename INST.M[1,VDS]1 blob sn#113821 filedate 1974-07-31 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

	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 far.  
	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