OBJECTIVE
	To enable the student to safely:	

	A.	Program
	B.	Maintain
	C.	Troubleshoot
	D.	Adjust
	E.	Repair
	F.	Apply 

	the PUMA® 200 series robot

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)

I	INTRODUCTION

	A.	Safety in the Classroom
	B.	Classroom Procedure
	C.	Robot Definition
	D.	History of the PUMA® Robot

II	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

III	ROBOT ARM

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

IV	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

V	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

VI	SAFETY

	A.	Cautionary Levels in Manual
	B.	Safety Summary
	C.	Installation Safety Considerations

VII	OPERATION

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

VIII	BASIC VALTM

	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

IX	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

X	DRIVE TRAINS

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

XI	DISASSEMBLY

	A.	Gear Train Assemblies Explanation
		1.   Joint 1
		2.   Joint 2
		3.   Joint 3
		4.   Joint 4
		5.   Joint 5
		6.   Joint 6
	B.	Removal of Wrist Assembly
	C.	Removal of Joint 4 Motor Drive Assemblies
	D.	Removal of Joint 6 Motor
	E.	Removal of Joint 5 Motor and Drive Assemblies
	F.	Removal of Lower Link
	G.	Removal of Joint 3 Drive Assemblies
	H.	Removal of Joint 3 Motor
	I.	Removal of Joint 2 Motor
	J.	Removal of Joint 2 Drive Assemblies
	K.	Removal of Joint 1 Motor Assemblies
	L.	Removal of Wire Harness from Upper Link
	M.	Removal of Upper Link
	N.	Removal of Wire Harness Assemblies
	O.	Removal of Joint 1 Drive Assemblies

XII	ASSEMBLY

	A.	Assembly of Joint 1 Drive Components
	B.	Reassembly of Joint 1 Motor Adapter Assemblies
	C.	Installation of Wire Harness
	D.	Assembly of Upper Link
	E.	Installation of Joint 2 Motor
	F. 	Installation of Lower Link
	G.	Installation of Joint 4 Motor and Cartridge Assemblies
	H.	Installation of Joint 5 Motor and Drive Components
	I. 	Installation of Joint 6 Motor
	J. 	Installation of Wire Harness Support
	K.	Installation of Wrist Assembly
	L.	Installation of Joint 3 Motor and Drive Shaft
	M.	Cover Installation

XIII	PERIODIC MAINTENANCE

	A.	Lubrication
	B.	Checking for Bearing Wear and Gear Backlash
	C.	Adjustment Procedure for Backlash
	D.	Practical Exercise - Backlash Adjustment

XIV	TROUBLESHOOTING & DIAGNOSTICS

	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