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\F3\C154 EAST DANA STREET
\CMOUNTAIN VIEW, CA. 94041
\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\←S\→.415-965-0557
\F1\CAugust 9, 1976


Dr. Gordon I. Robertson
Engineering Research Center
Western Electric Corporation
P.O. Box 900
Princeton, N.J. 08540

Dear Dr. Robertson:
\J
	Enclosed  is  the  instruction  set   documentation  for  the
PDP-11/45 version  of the arm control software  we are providing as
part of your order.  This code is intended to be used on  a PDP-11/45
with the floating  point option.  At  this time we are  also ready to
send   you  the   complete  software   package,  so  you   can  start
familiarizing yourself with  the details of  the code.   To do so  we
must  know just what  form you  want it in...magnetic  tape, DECtape,
paper tape,  and  number  of tracks  and  format.   We  will  try  to
accomodate your  preferences.   In  addition, we  can  supply a  line
printer listing for reference.

	We have recently completed a fixed point software package for
our  smaller  (model  M.I.T.)  manipulator  for  use on  the  LSI-11,
PDP-11/40, and PDP-11/34.  We hope to have a similar fixed point  package for
our  larger  arm  available  in  about  4  months.    Should  you  be
interested, we will keep you posted on the progress of this work.

	Also  enclosed are some schematics  of our current interface.
The version you will be getting will be slightly different,  but will
function  the same,  and  will  have the  same  I/O  details and  pin
assignments.   This interface connects to  any PDP-11 series computer
through  a DEC  supplied  DR-11C  interface (DRV-11  for  the  LSI-11
computer). The  interface has  a 12 bit  A/D (+- 10vdc),a  32 channel
multiplexer, and eight 12-bit DACS.  This allows the computer to read
up to  32 analog  inputs,  and output  up to  8 analog  signals.   In
addition,  16 "brake bit"  outputs are available  for controlling arm
brakes, and servo mode (position, velocity or current servo),  and up
to 16 digital inputs to the computer are also allowed.

	We  are currently  planning to  deliver your  arm around  the
beginning  of October.  I  will be on the  East Coast sometime during
September and may stop by for some preliminary coordination with you.
We are also assuming that  you do not currently have a PDP-11/45, and
are planning to do our final  checkouts at Stanford University.   You
are  invited to  visit  during  that time  and  get some  "hands  on"
experience with the complete system.\.
\←L\→S\←R\-L\/'2;\+L\→L

Yours sincerely,



Victor Scheinman
    President

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VDS:pdp10