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 1 week period (35 Hours)

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
	B.	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.	Top panel
		3.	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 - Pic 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.	SETI 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	DRIVE TRAINS
	
	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.	Functional 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.	Inpuock 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