1+_____________________________________________________________________
 ] AUTHOR:            ]                             ] DR:              ]
 ]   ALAN OGLETREE    ]    PASS PROGRAM NOTE        ]       107041     ]
 ]____________________]                             ]__________________]
 ] ORG/PHONE:         ] OPS NOTE ( )  USER NOTE (X) ] DATE:            ]
 ]   IBM/282-8440     ]      RELEASE NOTE( )        ]       06/03/92   ]
 ]____________________]_____________________________]__________________]
 ] OI/FLIGHT EFFECTIVITY:        ]  USER AFFECTED:                     ]
 ]   OI-21 AND SUBS              ]  CREW ( )  GROUND (X)  DUMP ONLY ( )]
 ]_______________________________]_____________________________________]
 ]        MAJOR SOFTWARE AREA:       ] OPS MODES AFFECTED:             ]
 ]SSW ( )  GNC ( )  VU ( )  SM/PL (X)]   S2                            ]
 ]_____________________________________________________________________]
 ] SOFTWARE SUB-AREA: SM, RMS                                          ]
 ]_____________________________________________________________________]
 ] PRINCIPAL FUNCTIONS: S5.1.10                                        ]
 ]_____________________________________________________________________]
 ] TITLE:                                                              ]
 ]   RMS ENCODER BIAS DATA OUT-OF-DATE IN SM GROUND CHECKOUT           ]
 ]_____________________________________________________________________]
 ] DESCRIPTION:                                                        ]
 ]                                                                     ]
 ]   ITEM 14 ON SPEC 64 (SM GROUND CHECKOUT) ALLOWS SELECTION OF       ]
 ]   ENCODER BIASES USING THE ARM ID.  SINCE THE ENCODER BIAS VALUES   ]
 ]   USED BY THE SOFTWARE ARE HARD-CODED, ANY CHANGE TO THE ACTUAL     ]
 ]   ARM (E.G., JOINT CHANGEOUT, NEW ARM, REFURBISHED ARM, ETC.) THAT  ]
 ]   AFFECTS THE VALUE OF THE ENCODER BIAS WILL NOT BE REFLECTED IN    ]
 ]   THE SM GROUND CHECKOUT SOFTWARE. THE ARMS CURRENTLY SUPPORTED     ]
 ]   AND THEIR HARD-CODED VALUES ARE AS FOLLOWS (TO THE 4TH DECIMAL    ]
 ]   PLACE):                                                           ]
 ]                                                                     ]
 ]       +--------++---------+---------+---------+                     ]
 ]       ] JOINT  ]] ARM 201 ] ARM 301 ] ARM 303 ]                     ]
 ]       +--------++---------+---------+---------+                     ]
 ]       ]  SH Y  ]]  2.3895 ]  0.8569 ]  2.4005 ]                     ]
 ]       ]  SH P  ]]  1.8182 ]  2.3950 ]  3.9771 ]                     ]
 ]       ]  EL P  ]]  1.8622 ] -0.0165 ]  3.6255 ]                     ]
 ]       ]  WR P  ]]  2.0874 ]  0.9778 ] -0.9393 ]                     ]
 ]       ]  WR Y  ]]  1.2579 ] -1.9061 ]  0.0989 ]                     ]
 ]       ]  WR R  ]] -3.3838 ]  0.0110 ]  2.5433 ]                     ]
 ]       +--------++---------+---------+---------+                     ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ]USER RESPONSE:                                                       ]
 ]                                                                     ]
 ]   (SEE SUPPLEMENTAL SHEET.)                                         ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ]CONCURRENCE:                           ]APPROVAL:                    ]
 ]IBM: PATTI A. THORNTON    DATE 08/31/92]                             ]
 ]    --------------------      ---------]                             ]
 ]FDSD:   W. R. PRUETT      DATE 09/01/92]                             ]
 ]     -------------------      ---------] DARRELL E. STAMPER 09/08/92 ]
 ]PF MGR:   P. B. CHIU      DATE 09/08/92]------------------- -------- ]
 ]       -----------------      ---------] CHAIRMAN, SASCB      DATE   ]
 ]_______________________________________]_____________________________]
 @




1+_____________________________________________________________________
 ]                                                                     ]
 ]                       SUPPLEMENTAL SHEET                            ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ] AUTHOR:            ]                             ] DR:              ]
 ]   ALAN OGLETREE    ]    PASS PROGRAM NOTE        ]       107041     ]
 ]____________________]                             ]__________________]
 ] ORG/PHONE:         ] OPS NOTE ( )  USER NOTE (X) ] DATE:            ]
 ]   IBM/282-8440     ]      RELEASE NOTE( )        ]       06/03/92   ]
 ]____________________]_____________________________]__________________]
 ] TITLE:                                                              ]
 ]   RMS ENCODER BIAS DATA OUT-OF-DATE IN SM GROUND CHECKOUT           ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ] DESCRIPTION:                                                        ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ]USER RESPONSE:                                                       ]
 ]                                                                     ]
 ]   IT IS POSSIBLE TO CHANGE THE VALUE OF ANY ENCODER BIAS VIA        ]
 ]   TABLE MAINTENANCE (SPEC 60 ITEMS 16 AND 17) BEFORE THE RMS        ]
 ]   SOFTWARE HAS STARTED EXECUTING (I.E., BEFORE SPEC 94 HAS BEEN     ]
 ]   REQUESTED).  (NOTE: THESE ENCODER BIAS VALUES CANNOT BE CHANGED   ]
 ]   AFTER SPEC 94 HAS BEEN BROUGHT UP.)  IF, AFTER EXECUTION OF       ]
 ]   SPEC 64 ITEM 14, THE ENCODER BIASES LOADED INTO THE FSW ARE       ]
 ]   NOT AS DESIRED, THE CORRECT VALUES CAN BE LOADED INTO THE         ]
 ]   SOFTWARE VIA TABLE MAINTENANCE.  THE MSIDS TO USE ARE AS          ]
 ]   FOLLOWS:                                                          ]
 ]                                                                     ]
 ]      SH Y ENCODER BIAS         V98U5107C                            ]
 ]      SH P ENCODER BIAS         V98U5108C                            ]
 ]      EL P ENCODER BIAS         V98U5109C                            ]
 ]      WR P ENCODER BIAS         V98U5110C                            ]
 ]      WR Y ENCODER BIAS         V98U5111C                            ]
 ]      WR R ENCODER BIAS         V98U5112C                            ]
 ]_____________________________________________________________________]
 @
