COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	NEW BITS TRANSMITTED BY TEACH BOX
C00005 ENDMK
C⊗;
NEW BITS TRANSMITTED BY TEACH BOX

BYTE	7	6	5	4	3	2	1	0

1	JT3+	JT3-	JT2+	JT2-	JT1+	JT1-	PANIC	RECORD

2	TOOL+	TOOL-	JT6+	JT6-	JT5+	JT5-	JT4+	JT4-

3	JOY	POS	OFF	COMPUTE	FREE	JOINT	WORLD	TOOL

4	SPEED

5	JOYSTICK X

6	JOYSTICK Y

7	JOYSTICK Z

8	JOYSTICK RZ


IF JOY IS TRUE, THEN THE TOOL AND RECORD BITS SHOULD COME FROM THE JOYSTICK
BOX, OTHERWISE, THESE BITS COME FROM THE MANUAL CONTROL BOX.

JOY AND POS SIGNALS WILL COME FROM TWO - TWO POSITION TOGGLE SWITCHES AND WILL
NOT HAVE A LED INDICATING THEIR STATES.

A SPECIAL BUTTON TO SET THE ZERO POSITIONS OF THE FOUR INPUTS FROM THE JOYSTICK
SHOULD BE INCLUDED ON THE JOYSTICK BOX.  ??THIS BUTTON MUST BE PRESSED
AT LEAST ONCE BEFORE THE JOYSTICK BECOMES ACTIVE.



BUTTONS AND CONTROLS CONTAINED ON JOYSTICK BOX:

	JOYSTICK - 4 ANALOG SIGNALS
	RECORD BUTTON
	POSITION/ORIENTATION SWITCH
	2 LEDS
	3 POSITION, HAND CONTROL SWITCH

NEW TOGGLE SWITCH FOR SETTING THE JOYSTICK/SWITCHES MODE SHOULD BE
PLACED EITHER ON THE JOYSTICK BOX OR THE MANUAL CONTROL BOX.



MESSAGE BYTES OUTPUT BY THE LSI TO THE MANUAL CONTROL BOX:

BYTE	7	6	5	4	3	2	1	0

1	0		JOY2	JOY1	MODE	MODE	MODE	CALIB

2	1			MESS	MESS	MESS	MESS	MESS


THE MESSAGE BITS ARE DECODED TO THE FOLLOWING STRINGS:

0	

1	LIMIT STOP 1
2	LIMIT STOP 2
3	LIMIT STOP 3
4	LIMIT STOP 4
5	LIMIT STOP 5
6	LIMIT STOP 6
7	LIMIT STOP 7
8	TOO CLOSE
9	TOO FAR

10	TEACH MODE

11	MANUAL MODE
12	NO HIGH PWR
13	PROG RUNNING
14	RUN HOLD

15	FATAL ERROR


AFTER A PERIOD OF APPROXIMATELY 5 MINUTES WITH NO ACTIVITY ON ANY OF THE
JOYSTICK OR MANUAL CONTROL BOX INPUTS, THE DISPLAY SHOULD TURN OFF.  ANY
ACTIVITY ON THE INPUT LINES SHOULD TURN THE DISPLAY BACK ON.