perm filename WIRES.M[1,VDS] blob sn#283381 filedate 1975-04-08 generic text, type C, neo UTF8
COMMENT ⊗   VALID 00006 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002			COMPUTER CONTROL CONNECTOR
C00004 00003				WIRE COLOR CODES AND PIN ASSIGNMENTS
C00006 00004					ARM CONNECTOR
C00007 00005				ANALOG P.C. CARD PIN ASSIGNMENTS
C00012 00006		INSTALLING AND INTERFACING THE MODEL M.I.T. ARM
C00028 ENDMK
C⊗;
		COMPUTER CONTROL CONNECTOR
		3M- Connector Pin Numbers


1	Pot +Voltage Common (+10 vdc max)
2	Ground common
3	Pot -Voltage Common (-10 vdc max)
4	Ground (common)
5	CC Reset (momentary gnd. to disable arm)
6	Ground (common)
7	CC Set (momentary gnd. to enable arm)
8	Gnd (common)
9	Pot #1 Wiper-output (P1)
10	Tach. #1 output (T1)
11	CC Motor #1 (+-10 v range) (M1)
12	CC Brake #1 (gnd. to enable) (B1)
13	Spare
14	Spare
15	P2
16	T2
17	CC M2
18	CC B2
19	Spare
20	Spare
21	P3
22	T3
23	CC M3
24	CC B3
25	Spare					NOTES
26	Spare				
27	P4- wiper A				CC= Computer Command
28	T4					P = Potentiometer Wiper
29	P4- wiper B				T = Tachometer
30	CC M4					B = Brake
31	CC B4					M = Motor
32	Spare
33	P5					All grounds are common
34	T5
35	CC M5
36	CC B5
37	Spare
38	Spare
39	P6- wiper A
40	T6- 
41	P6-wiper B
42	CC M6
43	CC B6
44	Spare
45	P7 
46	T7
47	CC M7
48	Spare
49	CC M7-hammer mode
50	JOINT HOT (overtemperature signal- high=hot)

			WIRE COLOR CODES AND PIN ASSIGNMENTS

	Throughout the arm the following color codes are used
Red-	 Potentiometer Element
Brown-	 Potentiometer Element
Violet-  Motor
White -  Motor
Yellow-  Tachometer
Black-   Tachometer Common
Grey-    Brake
Orange-  Brake Common
Green-   Pot. Wiper #1
Blue-	 Pot. Wiper #2



		MANUAL CONTROLLER PIN ASSIGNMENTS

	
1	B1 (high=on)
2	B2
3	B3
4	B4
5	B5
6	Spare
7	Hand- impact mode
8	Brake Common
9	Spare
10	J1 (Joint #1 manual control)
11	J2
12	J3
13	J4
14	J5
15	J6
16	J7 (Hand manual control)
17	Spare
18	+15vdc (from power supply to hand control)
19	-15vdc
20	Pot Wiper (From manual velocity control pot)
21	Spare
22	Manual Control/Computer Control Select (high=hand control)
23	Gnd
24	Spare
25	Emergency Stop
26	Control Command Cround

				ARM CONNECTOR

	Pin assignments for 50 pin 3-M connector from power supply to arm

1	Potentiometer Element
2	Spare Buss 1
3	Potentiometer Element
4	Spare Buss 2
5	Brake Common
6	Spare Buss 3
7	Tach Common 
8	Spare Buss 4
9	P1 
10	T1
11	Spare
12	M1
13	M1
14	B1
15	P2
16	T2
17	Spare
18	M2
19	M2
20	B2
21	P3
22	T3
23	Spare
24	M3
25	M3
26	B3
27	P4 (wiper #1)
28	T4
29	P4 (wiper #2)
30	M4
31	M4
32	B4
33	P5
34	T5
35	Spare
36	M5
37	M5
38	B5
39	P6 (wiper #1)
40	Spare
41	P6 (wiper #2)
42	M6
43	M6
44	B6
45	P7
46	Spare
47	Spare
48	M7
49	M7
50 	Spare

			ANALOG P.C. CARD PIN ASSIGNMENTS

1 	Gnd
2	NC
3	-HCM4EN
4	NC
5	-CCM4EN
6	NC			Nomenclature
7	-HCM3EN
8	GND			RFB = Current Feedback (Sense) Resistor
9	-CCM3EN			Q   = Transistor
10	NC			N   = NPN (Transistor)
11	-HCM2EN			P   = PNP (Transistor)
12	CCM4			M   = Motor
13	GND			B   = Base (of transistor)
14	CCM3			TH  = Thermistor
15	-CCM2EN			LED = Light Emitting Diode
16	CCM2			CT  = Amplified Tach Signal for Computer
17	GND
18	HC input
19	CT1
20	CCM1
21	T1
22	-HCM1EN
23	T2
24	-CCM1EN
25	CT2
26	RFBM3
27	CT4
28	RFBM2
29	T4
30	RFBM1
31	NC
32	QNM1B
33	NC
34	QNM2B
35	NC
36	QPM2B
37	NC
38	QPM1B
39	-15VDC
40	QNM3B
41	NC
42	QNM4B
43	NC
44	GND
45	NC
46	QPM4B
47	NC
48	QPM3B
49	NC
50	QNM5B
51	NC
52	QNM6B
53	+15VDC
54	QPM6B
55	NC
56	QPM5B
57	NC
58	QNM7B
59	NC
60	QPM7B
61	T3
62	+O.V.C.
63	CT3
64	-O.V.C.
65	T6
66	T7
67	T5
68	NC
69	CT6
70	RFBM7
71	CT5
72	RFBM6
73	CT7
74	RFBM5
75	NC
76	RFBM4
77	GND
78	NC
79	-CCM7EN
80	NC
81	GND
82	HC INPUT
83	-HCM7EN
84	CCM6
85	-CCM6EN
86	CCM5
87	NC
88	NC
89	GND
90	NC
91	-HCM6EN
92	NC
93	-CCM5EN
94	NC
95	GMD
96	NC
97	-HCM5EN
98	NC
99	NC
100	NC


GND   Connect all grounds together
		Digital P.C. Card Pin Assignments

1	HC INPUT
2	-HC RESET CC
3	GND
4	NC
5	HC- POT
6	-CCEN
7	HC ENABLE C
8	-CC SET ENABLE
9	-15VDC
10	NC
11	-CC RESET CC
12	NC
13	NC
14	GND
15	JOINT HOT
16	NC
17	NC
18	NC
19	NC
20	NC
21	GND
22	NC
23	LED M7 HOT
24	CC B7 EN
25	+15VDC
26	+5VDC
27	-B7 RELEASE
28	-15VDC
29	-B6 RELEASE
30	TH M7
31	-HC M7 EN
32	NC
33	INV 1 OUT
34	CC M6 EN
35	INV 1 IN
36	CC B5 EN
37	-CC M7 EN
38	-HC M6 EN
39	-CC M6 EN
40	-HC M5 EN
41	-B5 REL
42	LED M6 HOT
43	LET M5 HOT
44	+5VDC
45	+15VDC
46	-15VDC
47	-B4 REL
48	TH M6
49	INV 2 OUT
50	TH M5
51	INV 2 IN
52	NC
53	INV 3 OUT
54	CC B4 EN
55	INV 3 IN
56	CC B3 EN
57	-CC M5 EN
58	-HC M4 EN
59	-CC M4 EN
60 	-HC M3 EN
61	-B3 REL
62	LED M4 HOT
63	LED M3 HOT
64	+5VDC
65	+15VDC
66	-15VDC
67	-B2 REL
68	TH M4
69	-B1 REL
70	TH M3
71	INV 4 OUT
72	NC
73	INV 4 IN
74	CC B2 EN
75	INV 5 OUT
76	CC B1 EN
77	INV 5 IN
78	-HC M2 EN
79	+5VDC
80	-HC M1 EN
81	-CC M3 EN
82	LED M2 HOT
83	-CC M2 EN
84	+5VDC
85	LET M1 HOT
86	-15VDC
87	-CC M1 EN
88	TH M2
89	-CC EN
90	TH M1
91	B7
92	NC
93	B5
94	+15VDC
95	B3
96	B1
97	B2
98	B4
99	B6
100	+30VDC BRAKE COMMON

	INSTALLING AND INTERFACING THE MODEL M.I.T. ARM


	The arm package consists  of three units, the arm,  the power
supply, and the  manual controller.
	
	The  arm must  be  clamped or  screwed  to a  suitable  rigid
support such  as a table, large plate or  rigid bracket of some sort.
For debugging purposes it is wise to place some flexible polyurethane
foam  (like  that used  in  the  arm  shipping container)  over  hard
surfaces within  the range of the arm.  This will help prevent damage
in the event errors are made in initially  interfacing or programming
the arm.  

	The manual  controller plugs into  the power suppli,  and the
arm connects to  the power supply thru the 50 conductor 3M flat cable
provided.   One  end plugs  into  the arm,  the  other into  the  ARM
connector on the power supply.  As one end of the cable is polarized,
it  is not possible to plug it in wrong  (so long as you don't try to
force things).  It is best to lead the cable out  of the power supply
underneath the  carrying handle and under  the suppli.   This way the
power supply acts  as a  strain relief  should the  cable recieve  an
unintentional pull.  

	The manual controller permits computerless remote movement of
individual joints  of the arm.  It  also selects the operating mode. 
There are 5 brake switches on this control.  They control  the brakes
on joints 1  thru 5.  (joint 6  and the hand have no  brakes).  Joint
numbering  starts at the  base (#1) and  works out to  the hand (#7).
These switches absolutely turn their  proper brake off.  They  AND to
turn their  proper brake  on.  The  arm can be  phycically pocitioned
αusing onhy the brake switches (MODE switch in any position, includinc
OFF is OK).   Just turn  a joint brake off  and move that  joint with
your hands (execpt the hand which must be electricaldy operated). 

	The MODE swidch  selects the  function.  OFF  means only  the
brake switches function (Boph OFF  posidions are the same).  COMPUTER
means  that the  computer controls  the ARM.   The numbered  and HAND
pocitions refer to the manual contrkl mode where turning the VEL knob
+ and -  makes the selected joint move + or -.   Turning the VEL knob	
does two things.  It first turns off the selected joint brake and  at
the same time commands a joind valocity.   This commanded velocidy is
pro`orpional to the  knob dacplacement, but also dependent on gravity
and load torques on the particqlar joint.  To properly use thic mode,
keep the brake  switches in ON positiol, as their  off position is an	
absklete OFF. 

	There  are  two more  buttons on  this  controller.   The RED
button ic the stop button  when o`erating in CKEPUTER mode.   Pushing
it momentarily  will disable the ari.   This means the  arm will stop
where it is and the brakes will  turn oj.  To re-enable the arm,  see
αdhe section under computeb  contrkl.  The @LACK button  is the im`acp
mode  mn the hand.   Pushilg dhis button WHILE  turning the VEL knob,
with HAND mode salected will cause the hand to see a rectangualb wave
drive  signal   whose  duty  cycle   is  propordional  to   VEL  knob
displacemefd.   This will  cause the  hand to tighten  ob ralease its	
grip.  CAUTIOJ- use this mode sparingly, as id heats the motor up an`
also causes mgbe rapid hand screw wear.  

	Skme observations on the  manual operation of the arm.  Under	
manual ckndroh, the maximem  speeds of the arm  are much slower  than
the  maximums  under  computer  contrkl.    In  addition,  the  joint
strengphc are slightly reduced.  Do not hold a joint againct its spop
poo long.   If no  motion ic taking  place, let the  VEL knob  center
idself.   This reduces  mgtor heating.   The  power supply  has mgtor	
demperature  sensors in  it.   If you  do keep  a joint on  too long,
especially at high current  levels, the overtemp sensob  will disable
the arm until the motor coklc a bit.  The hot joint will be indicated
by its correspondingly numbered LED on  the power supply.  DON'T  run
the arm into its  stops too frequently.  The arm  stops are primarily
to keep the joints from winding up.  Properhy operated the arm should
never run inpo its  stops.  Jest like with  a person- its painful  to
move a joint to its limits of motion, expecially at high speed.  This
caution is  very important under computer control where maximum joint
velocity is much higher. 

	COMPUTER CONTROL

	Dhe other 50 pin 3M connector comming out of the power supply
is  for  connection  to  a  computer  interface,  or  other  external
hardware.  The accompanying pin  chart lists the pin assignments  for
this  connector.   A summary  follows.   Pot  voltage  means the  pot
reference supply  terminals.  Customer must  supply his own precision
supply.  This should  be compatible with the  A/D used.  Typically  a
+-10 vdc supply is used.   This supply should be capable of supplying
at least  250 ma.  Ground or Gnd.  or Ground Common terminals are all
tied together and  represent the  ground terminals.   CC refers to  a
Computer  Command  terminal.    These  are Motors  (M1,  etc)  Brakes
(B1,etc.), and Enable and  Disable.  The Motors  accept a +- 10  vdc.
signal range at  10 ma.  max.   This corresponds to full  scale motor
current.    The  power supply  contains  CURRENT  amplifiers.   These
amplifiers output a motor  current proportional to the voltage  input
from the  computer on the  CC M1 (etc.)  terminals.  The  BRAKE input
terminals  accept a high (can be TTL or  floating) or low (TTL low or
GND) at 1 ma.   to turn the brakes off  or on.  LOW means  the brakes
are ON.  There is also the CC SET and CC RESET leads.  These are used
to enable or disable the  arm (all joints at  a time).  Grounding  CC
SET enables the arm, while grounding CC RESET disables the arm.  This
can be done with TTL logic, and only requires a momentary pulse.  The
reset function is  ORed with the  RED button  on the manual  control.
It's a good idea to trun the brakes on with the computer before doing
your  first ENABLE or else the arm may  fall.  Also, its advisable to
have a timeout on the ENABLE so that if the program dies the arm will
stop.  Thus a 100 ms. timeout is a good thing.  The software can give
enables every 50-100 ms. and a hardware timer can be set to trigger a
RESET in 100 ms.  if no new RESET is recieved. 

	On the output side, The POT  Wiper terminals (P1,P2,ETC.) are
the  joint position signals comming  directly from the potentiometers
on each  joint.  Their  range will  be about  90% of  the pot  supply
voltage, execpt for the hand which is  only about 20% at present.  On
joints  1,2,3,and 5  this  corresponds to  about 340  degrees maximum
rotation.  On joints  4 and 6 there  are two wipers spaced  about 180
degrees apart.  This allows  for about 600 degrees of rotation as one
wiper is always in an active region on the pot element.  The computer
must  have an  algorithm  for selecting  the  proper wiper  to  use.  
Starting algorithms must also be carefully thought out if both wipers
are to be properly  used.  Of course, many  useful tasks can be  done
with the  more limited motion resolved  by just a single  wiper.  The
pots  are not highly  linear devices. This doesn't  matter if Unimate
type of  operation is desired,  but for  computer planned motions,  a
table lookup procedure must be stored in the computer. 

	Joints 1 thru 5 have electromechanical tachometers.  Joints 6
and 7 have electronic tachometers.  In all cases, the output  signals
have been amplified inside the power supply.  This scaling results in
larger than raw  output. Due to electronic circuitry constraints, the
tach readings will be affected by  turning the VEL knob even when  in
COMPUTER mode.  Thus, keep your  hands off this knob when reading the
tachs,  or running in computer mode.   Joints 6 and 7 have electronic
tachometers.  These  are electronic circuits  which measure the  back
EMF  of the  motor and  attempt to  cancel out  the  armature losses.
Unfortunately, this is not too accurate a process, but it does  serve
its purpose of providing a damping signal  for use in improving servo
stability.  The  output of these electronic tachometers is about +- 3
volts full scale.  The other tachs have 6-10 volt full scales.  

	The CC M7  HAMMER MODE terminal  refers to the input  for the
hand hammer mode.   The hammer mode duty cycle is proportional to the
signal sign  and  amplitude.   Actually,  it  is probably  better  to
operate the hammer mode from software  directly into the CC M7 input.
This way  the duty cycle AND frequency can be program changed easily.
One less output  channel is needed  too.  Remember,  take it easy  in
using this mode. 

	The JOINT HOT output  is normally low.  it will  go high when
the arm is hot  and has stopped because of a hot motor.  This is just
a status bit so the computer can keep track of what has happened.  As
with all other digital inputs, it is TTL compatible. 

	You now have enough information to enable you to start using
your manipulator.   Good luck.