Peter I. Corke - Pumaservo - The Unimation Puma servo system.rar (779752), страница 10

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Enable integration and servoing using the STDATA command to write the appropriatejoint status word, see Table 2.5.2. Put the servo into stop mode using the STOPMDE command.3. Set the number of lines between zero indices using the STDATA command.4. Set the velocity gain using the STDATA command.5. Set the integration band tolerance using the INTTOL command.6.

Set the in-tolerance band using the POSTOL command.7. Set the host setpoint update interval using the STDATA command and the data fromTable 2.6.50Appendix DBackplane connector notationThe pins on the backplane connectors are labeled using DEC conventions, as shown in FigureD.1. Pins within each connectors are labeled with letters from DECs connector alphabet, seeTable D.1.A 1 18B 2 17C 3 16D 4 15E 5 14F 6 13H 7 12J 8 11K 9 10L 10 9M 11 8N 12 7P 13 6R 14 5S 15 4T 16 3U 17 2V 18 1Table D.1: Letters/numbering convention used for backplane connectors51Rear of cabinetBV2BV1Component side (side 1)BAA1AV1BA1BV1BA1BA2AV1AV2ASolder side (side 2)BV2BA2AV2AA2AA1AA2Front of cabinetPlan view of backplaneFigure D.1: Board connector labeling details52Bibliography[1] G.

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