Newsgroups: comp.robotics
Path: brunix!news.Brown.EDU!noc.near.net!das-news.harvard.edu!cantaloupe.srv.cs.cmu.edu!deadslug
From: deadslug+@B.GP.CS.CMU.EDU (Richard Voyles)
Subject: Replacing the PUMA LSI/11 controller
Message-ID: <C7rHHA.My0.2@cs.cmu.edu>
Originator: deadslug@B.GP.CS.CMU.EDU
Sender: news@cs.cmu.edu (Usenet News System)
Nntp-Posting-Host: b.gp.cs.cmu.edu
Organization: School of Computer Science, Carnegie Mellon
Date: Sat, 29 May 1993 00:03:10 GMT
Lines: 40

I participated in a project at Stanford University and Carnegie Mellon
University to develop a board for replacing the LSI/11 controller
with the CPU of your choice. This board set is available from a company
I started several years ago for not much above cost. Because I have
received several inqueries about this board set, I have made available
the user's manuals by anonymous ftp.

ftp ftp.cs.cmu.edu

login as "anonymous"

cd /usr/anon/user/deadslug

get trc4um.ps


This is a PostScript file that can be printed or viewed (to conserve paper)
and describes the remote board that mounts inside the Unimate controller, 
replacing the VAL computer.

The file trd0001.ps shows the board arrangement diagrammatically.

A brief description of the board follows:

The board is basically an I/O board with D/A's, A/D's, encoder
counters and some digital I/O lines and is available to connect
to several bus architectures including VMEbus, IBM-PC bus, Multibus
and IndustryPack bus. (with others under consideration) It comes as
a two-board set: A PUMA board and a bus interface board. This allows
several buses to be supported and keeps the analog electronics away
from the noise of the bus. (It also makes switching buses cheap, if
the need ever arises.) Since it is primarily an I/O board set, it
can be used in applications other than controlling a PUMA.

Send e-mail to robodude@cmu.edu or contact:

Trident Robotics and Research, Inc.
2516 Matterhorn Drive
Wexford, PA  15090-7962
(412) 934-8348
