I	OBJECTIVE 
	To enable the student to 

A.	Safely work with 761/762 Controller / Arm
B.	Understand 761/762 Electrical Systems (Controller / Arm)
C.	Perform Electrical Maintenance
D.	Run Diagnostics
E.	Isolate Electrical Faults
F.	Manage Spare Parts Effectively

II	CLASS STRUCTURE 

A.	Lecture 
B.	Questions
C.	Hands-on Exercises
D.	8 Hours Per / Day for 4 Days, Plus 4 Hours travel time on Friday, 
	for a one week period

III	SYSTEM OVERVIEW

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

IV	ROBOT ARM

	A.	Anthropomorphic Members and Joints
	B.	Operating Envelope

V	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

VI	PRINCIPLES OF CONTROL

	A.	Control Principles Block Diagram
		1.	Trace Command Signals
		2.	Trace Servo Board Interpolation
		3.	Trace Motor Drive Encoder Feedback

VII	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.	Start-up Procedures
		1.	Non-auto
		2.	Auto
	D.	Calibration
	E.	Teach Pendant Description
	F.	Practical Exercise - Teach Pendant Operation

IX	BASIC VAL(tm)

	A.	Notation
		1.	Modes and Prompts
		2.	Arguments
	B.	Commands and Instructions
	C.	Editing 
	D.	Editing Commands
	E.	Practical Exercise - Programming
	F.	Editing Teach Mode Commands
	G.	Executing and Stopping a Program

X	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

XI	ELECTRICAL MAINTENANCE

	A.	Test Procedures
		1.	Arm 
			a.	Servo Systems / Brakes
			b.	Gripper
			c.	Harness
			d.	Safety Light
		2.	Interconnections
		3.	Controller
			a.	AC Power Supplies
			b.	DC Power Supplies
			c.	Power Card Set
			d.	Major Power Amplifiers
			e.	Controller Card Set
			f.	Operational Panel
			g.	Arm I/O
	B.	Checklist

XII	DIAGNOSTICS

	A.	Potcal 
		1.	Potentiometer
			a.	Midpoint 
			b.	Linearity 
			c.	Calibration
		2.	Encoder 
			a.	Encoder Sync
			b.	Index
		3.	Usage
			a.	Techniques
			b.	Menus
			c.	Restarting VAL(tm)
	B.	Diag. Extend (Floppy Drive)

XIII	FAULT ISOLATION 

	A.	Determination of Problem 
		1.	Symptoms
			a.	Error Codes
			b.	Physical 
	B.	Interchangeability 
		1.	Arm
		2.	Controller
	C.	Signal Analysis

XIV	SPARE PARTS MANAGEMENT