🚀 go-pugleaf

I've finally gotten around to merging a number of technical notes related
to the operation of the Unimation Puma servo system into one coherent technical
note.  Given that this may be of interest to others on the net I'm making
PostScript versions of the documents available for anonymous ftp.  The
document covers the communications protocol to the arm interface board,
details of the digital servo board operation and disassembly, position
loop, and finally analog board operation at current and velocity loop level.
This is based on work we did here during the mid 80's on controller design
and dynamic modelling for force control, and goes considerably
beyond the details found in the anonymous `Breaking Away From VAL' 
document (BTW does anyone know where this came from? -- I suspect Stanford).

Also available is an annotated disassembly of the 6503 EPROM in a form that 
can be reassembled using the Frankenstein cross-assembler package available 
on the net.   I have blown new EPROMs based on this, and they did work.
The comments should not be taken as gospel, some of that stuff is pretty 
convoluted.  The version I disassembled was from a Mark I controller, and 
an EPROM labelled v5.  I've done a similar thing for a Kawasaki Mark I 
controller, and there were lots of differences.

The files are available for anonymous ftp from mlb.dmt.csiro.au.  They
live in the pub subdirectory and are;

    -r--r--r--  1 ftp      ftp        226241 Apr  9 14:14 mtm226-a4.ps.Z
    -r--r--r--  1 ftp      ftp        227927 Apr  9 14:14 mtm226-letter.ps.Z
    -r--r--r--  1 ftp      ftp          9193 Apr  9 14:16 servo.s.Z

The suffix -a4 indicates its formatted for A4 paper, -letter is for US 8.5x11"
paper.  servo.s is the annotated 6503 source code.

Hopefully this may be of some interest.  If you do make use of any of this I'd
be grateful if you'd acknowledge or cite the source.

		Peter
-- 
Peter Corke,                           PHONE: +61 3 487-9259
Senior Research Scientist              INTERNET: pic@mlb.dmt.csiro.au
CSIRO Div. Manufacturing Technology    ACSNET or CSNET:pic@mimir.dmt.oz.au
Locked Bag 9, Preston, Australia. 3072