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7) Move each Master Arm joint through its full range of motion. Note: J1 and J2 are controllable from
the Master Arm Joystick.
Check that:
a.
The corresponding joint on the slave arm responds.
b. The joint moves in the correct direction.
c.
The motion of slave to master is a 1-to-1 ratio.
d. The motion is smooth and complete.
8) Press and hold the stow button, ensure the arms stows completely. Release the button to stop the
movement.
Repeat for the deploy button.
9) Whilst moving the arm, press and hold the pause button, ensuring the arm stops responding whilst
the button is held down. Releasing the button will engage movement again.
This completes the acceptance test for the Bravo and Master Arm.
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