Path: utzoo!attcan!uunet!husc6!purdue!gatech!hubcap!cchang
From: cchang@hubcap.UUCP (Chin Hui Chang)
Newsgroups: comp.sys.dec
Subject: Help!! VAX/VMS Puma Robot Interface Driver and DR-11c
Keywords: VAX/VMS device driver, Puma robot, LSI-11, DR-11c, DRV-11,
          SYSGEN/CONNECT
Message-ID: <1910@hubcap.UUCP>
Date: 14 Jun 88 19:30:53 GMT
Organization: Clemson University, Clemson, SC
Lines: 53

Dear USENET readers,

	At our robot node at Clemson University's Electrical and Computer
Engineering department Computer Vision and Robotics Laboratory, we are
investigating a new software package for our Puma 500 robots.  The
problem right now is that we do not have the document as how to install
the driver to our dedicated VAX 11/750 VMS system from the software
supplier, since it is a PD software.

	Therefore, we need you to help us to answer the following
questions:

1) We compile the device driver code, link it, and place it in the 
   sys$system directory, right?

2) Then we run sys$system:sysgen, use the CONNECT subcommand to
   establish the relationship between the hardware, i.e, the Control
   status register of the DR-11 and the logical device name, in this
   case, PUA0, and the device driver name, PIDRIVER, a sample line 
   might look like this:

SYSGEN> CONNECT /adapter=ub0/csr=%0767600/drivername=pidriver-
SYSGEN> /vector=%0300 PUA0

   Is this procedure legitimate?

   The original software was ran at NASA on a MicroVax II running VMS.
   They're using Q22 bus(?) for interfacing the LSI-11 and in turn the 
   LSI-11 control the PUMA 's 6503 microcontrollers.

   Also, what caution do we need for this procedure?

   We asked this question just to make sure that we are right.
   Hardware difference between NASA and ours is that we use VAX 11/750
   UNIBUS.    

   John Llyod, if you are out there, would you please answer this
   question for us?  Your help is deeply appreciated!


					Sincerely,

					Joeseph Chin Hui Chang,
					John K. Sun,

					System programmer.

ARPANET: cchang@hubcap.clemson.edu
         cchang@prism.clemson.edu
         cchang@eureka.clemson.edu

BITNET: JSUN@CLEMSON
UUCP:   ...!gatech!hubcap!scarle!{hazel,citron,amber}!johnksun