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Text File  |  1987-03-02  |  2KB  |  31 lines
  1. /*
  2.  * RCCL Version 1.0           Author :  Vincent Hayward
  3.  * RTC          2.0                     School of Electrical Engineering
  4.  *                                      Purdue University
  5.  *      Dir     : h
  6.  *      File    : exiod.h
  7.  *      Remarks : External io register bit definitions
  8.  *                of the Unimate Controller.
  9.  *      Usage   : made available to the user
  10.  */
  11.  
  12. #define  EXTERN0       01       /* external input/output                    */
  13. #define  EXTERN1       02       /* bit definitions                          */
  14. #define  EXTERN2       04       /*                                          */
  15. #define  EXTERN3      010       /*                                          */
  16. #define  EXTERN4      020       /*                                          */
  17. #define  EXTERN5      040       /*                                          */
  18. #define  EXTERN6     0100       /*                                          */
  19. #define  EXTERN7     0200       /*                                          */
  20. #define  ARMPWR      0400       /* high power on/off bit  (high/low)        */
  21. #define  OFFL       01000       /* external low signal to stop the arm      */
  22. #define  RUN        02000       /* front panel switch - run bit low         */
  23. #define  RESTART    04000       /* front panel switch - restart bit low     */
  24. #define  HNDOH      01000       /* close pneumatic hand/release  (high/low) */
  25. #define  HNDCH      02000       /* open pneumatic hand/release  (high/low)  */
  26. #define  EXTRA4     04000       /* spare output bit (not wired)             */
  27. #define  EXTRA0    010000       /* spare I/O bit (not wired)                */
  28. #define  EXTRA1    020000       /* spare I/O bit (not wired)                */
  29. #define  EXTRA2    040000       /* spare I/O bit (not wired)                */
  30. #define  EXTRA3   0100000       /* spare I/O bit (not wired)                */
  31.