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The BBC Basic program linked to below arrived on a disc of miscellaneous computer control programs obtained from the same source as my Cyber arm. I had no further info on the program but on examination it was clearly designed to allow control of the Cyber 310 and possibly memorise a sequence of movements for subsequent replay.

Although it may not work as it stands without some further dedicated interfacing, it contains among its routines all the necessary code sequences to control the arm's various motors. It would make a good starting point if you wanted to write your own control programs but were missing the vital pulse timing and user port pin assignment details. It's been converted to text to allow it to be displayed here.
BBC Basic control program for the Cyber 310 arm. In text file format - a useful starting point for writing your own code.



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