I	OBJECTIVE
	To enable the student to safely	
	A. 	Program
	B.	Maintain
	C.	Troubleshoot
	D.	Adjust
	E.	Repair
	F.	Apply the PUMA(r)  200, 500, & 700 series robots

I I	CLASS STRUCTURE
	
	A.	Lecture 
	B.	Questions
	C.	Practical Hands-on Exercises
	D.	8 Hours Per/Day for 4 Days, plus 4 Hours on Friday to 
		allow for travel time, for a 2 week period (72 Hours)

WEEK ONE
I I I	INTRODUCTION
	
	A.	Safety in the Classroom
	B.	Classroom Procedure
	C.	Robot Definition
	D.	History of the PUMA(r)  Robot

IV	SYSTEM OVERVIEW

	A.	Components of the Systems
		1.	Controller 
		2.	CRT/TTY
		3.	Floppy Drive
		4.	I/O Section
		5.	Teach Pendant
		6.	Robot Arm

V	ROBOT ARM

	A.	Anthropomorphic Members 
	B.	Anthropomorphic Joints and Rotation Limits
	C.	Operating Envelope


VI	COORDINATE REFERENCE SYSTEMS
	
	A.	Definition of Measurement Reference Systems
	B.	Joint Coordinate Systems
		1.	Joint Rotation Limits
	C.	Cartesian Coordinate Systems
	D.	TOOL Coordinate Systems
	E.	Orientation, Altitude, TOOL positioning definitions

VII	PRINCIPLES OF CONTROL

	A.	Control Principles Block Diagram
		1.	Trace Command Signals
		2.	Trace Servo Board interpolation
		3.	Trace Closed Loop DC Motor drive system

VIII	SAFETY

	A.	Cautionary levels in Manual
	B.	Safety summary
	C.	Installation safety considerations

IX	OPERATION

	A.	Safety
	B.	Console Description
		1.	Front panel
		2.	Back panel
	C.	Startup Procedures
		1.	Non-auto
		2.	Auto
	C.	Calibration
	E.	Teach Pendant description
	F.	Practical Exercise - Teach Pendant Operation

X	BASIC VAL(tm)

	A.	Notation
		1.	Modes and Prompts
		2.	Arguments
	B.	Commands and Instructions
	C.	Editing 
	D.	Practical Exercise - Creating a VALTM  Program
	E.	Editing Teach Mode Commands
	F	Practical Exercise - Executing and Aborting a program

XI	PROGRAM INSTRUCTIONS

	A.	Motion Instructions
	B.	Program Execution Speed
	C.	Hand Control
	D.	Practical Exercise - Pick and Place
	E.	Expressions
		1.	Using constants
		2.	Using constants and Mathematical operators
		3.	Using constants and functions

XII	INTEGER VARIABLES

	A.	Creating data for a variable by setting a relationship between 
		a constant and a variable
	B.	Typing the variable

XIII	LOCATION DEFINITION AND MODIFICATION 

	A.	HERE Commands and Instructions
	B.	SET Instruction
	C.	Shift Function

XIV	BRANCHING INSTRUCTION

	A.	GOTO
	B.	CALL
	C.	RETURN
	D.	IF ... GOTO
	E.	Practical Exercise - Pallet Program

XV	DISK DRIVE COMMANDS

	A.	Floppy Disk care
	B.	Floppy Disk format
	C.	Disk Drive Commands

XVI	ELECTROMECHANICAL COMPONENTS
	
	A.	Joint 1
	B.	Joint 2
	C.	Joint 3
	D.	Joints 4, 5, and 6

XVII	PERIODIC MAINTENANCE

	A.	Lubrication
	B.	Checking for Bearing wear and Gear backlash
	C.	Adjustment procedure for backlash
	D.	Practical Exercise - Backlash Adjustment

XVIII	POTCAL

	A.	Safety
	B.	Motor Description
	C.	Starting up for POTCAL
	D.	Performing POTCAL
	E.	Using POTCAL Data

XIX	TROUBLESHOOTING

	A.	Gathering information
	B.	Applying Logic
	C.	Fault Isolation - General
	D.	Fault Isolation - Electronic Diagram
	E.	Card Cage Layout
	F.	Troubleshooting Guide
	G.	Electric Block Diagram

XX	VAL(tm) II  SIGNAL CONTROL

	A.	I/O Module - Description
	B.	Output Signals
	C.	Input Signals

XXI	MOVING ENTIRE TRANSFORMATION

	A.	Base Command Instruction
	B.	Using TOOL Offsets 
	C.	Practical Exercise - Cube Program

XXII	TRAJECTORY CONTROL

XXIII	CONFIGURATION CONTROL

XXIV	PROGRAM INTERRUPTION INSTRUCTIONS

XXV	MONITOR COMMAND PROGRAMS

	A.	Rules for writing 
	B.	Non-automatic execution
	C.	Automatic execution
	D.	Practical Exercise - Auto-start Program

XXVI	REVIEW OF COMMAND AND INSTRUCTIONS



WEEK TWO

I	REVIEW OF WEEK ONE

	A.	Commands 
	B.	Instructions

I I	VARIABLES ASSIGNMENT

	A.	Real values
	B.	Integer
		1.	Octal
		2.	Decimal
	C.	ASCII
	D.	Location

I I I	LOGICAL EXPRESSIONS

	A.	Using constants 
	B.	Mathematical operators
	C.	Functions
	D.	Variables

IV	FLOW CHARTING

V	STRUCTURED CONSTRUCTS

	A.	While ... Do ... End
	B.	Do Until
	C.	If Then ... Else ... End
	D.	Case of ... Value .... Any ... End
	E.	For To ... Step ... End

V	ARRAYS

	A.	Location variables
	B.	Real variables
	C.	Practical Exercise - Location Array

VII	LOCATION ASSIGNMENT / MODIFICATION

VIII	VAL(tm) II  FUNCTIONS

	A.	CRT Printout 
	B.	Pendant Control
	C.	Robot Control
	D.	Location Modification 
	E.	Signal Control

IX	PROCESS CONTROL PROGRAMS

	A.	Limitations
	B.	Permitted Usages
	C.	Practical Exercise - PC Pallet Program

X	VAL(tm) II  FUNCTION
	
	A.	Robot Control
	B.	Mathematical
	C.	Constant value
	D.	Miscellaneous
	E.	Practical Exercise - Programming using the TOOL 
		Coordinate System

XI	PARAMETERS

XII	SWITCHES

XIII	REVIEW

XIX	APPLICATION QUESTIONS