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.