I	OBJECTIVE
	To enable the student to safely	
	A.	Program
	B.	Maintain
	C.	Troubleshoot
	D.	Adjust
	E.	Repair

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)

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
	D.	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	DISC DRIVE DESCRIPTION / OPERATION

	A.	Disc Drive Operation
	B.	Disc Drive Commands
	C.	Practical Exercise

XIII	DRIVE TRAINS DESCRIPTION
	
	A.	Joint 1
	B.	Joint 2
	C.	Joint 3
	D.	Joints 4, 5, and 6
	E.	Checking for Backlash
	F.	Backlash Adjustment Descrition

XIV	DISASSEMBLY

	A.	Removal of Wrist Assembly
	B.	Removal of Joint 4 Motor and Drive Assemblies
	C.	Removal of Joint 6 Motor
	D.	Removal of Joint 5 Motor and Drive Assemblies
	E.	Removal of Outer Link
	F.	Removal of Counter Wait
	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 Inner Link
	M.	Removal of Inner Link
	N.	Removal of Wire Harness Assemblies
	O.	Removal of Joint 1 Motor
	P.	Removal of Joint 1 Drive Assemblies

XV	ASSEMBLY

	A.	Assembly of  Joint 1 Drive Component
	B.	Installation of Joint 1 Motor
	C.	Installation of Wire Harness
	D.	Installation 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.	Potcal
	N.	Cover Installation

XVI	PERIODIC MAINTENANCE
	A.	Cecking Electrical Limit Stops
	B.	Checking for Binding / Backlash
	C.	Checking for Bearing Wear
	D.	Practical Exercise - Backlash Adjustment


XVII	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