Alan's two smashed up Puma 560 robot arms.

Click thumbnails for a larger view.

I won several bids at the Imation auction last week, and came home with all this junk:
$5 Box of junk including a Floppy drive for a Puma 560 and two extender cards.
$45 Pallet with four dumb terminals with Puma interface cables, and two Puma 560 motors, manuals and a dot-matrix printer.
$140 Bashed up Puma 560 and controller with two missing motors.
$180 Better Puma 560 and controller with bad joint-servo card.

-Alan

Brynn also got an arm at a sale a few months back. Brynn's Puma 560 arm.
UPDATE: My arm is bolted to the ceiling of my garage now. Ceiling arm
Trying to get the joints calibrated.
Replacing the forearm.
Testing the plotting ability.
Attaching a pen to the hand.
Attaching a NEW pen holder to the hand.
Test plotting with the new pen holder.
Movies of arm
Wrist motor 1 of 3

Hauling the mess home.

The two controllers in Brynn's truck.	Robot arms and terminals all mixed up.	Two robot arms with missing motors and covers, and wires hanging out.	Everybody standing up in my garage.
Good news. One controller powers up, and is working.	The error message is because this card was not plugged in. When I plugged it in, the error message went away.

The beginning of RSOH

Brynn and I figuring out where to plug thing in.	A trouble light. Man, this is real robotics!	Brynn loaned my his teach pendant. $1200 for a used replacement!	Trying to get the arm power to turn on. No luck.
Two controllers sure gives you a lot of parts to try swapping.	Another shot of controllers.	Two arms also gives you a lot of parts to swap!	I decided to take the arm with the two missing motors and replace them with motors from the other arm which had some messed up wiring in it.
This is Joint #1, and the motor didn't fit right, so I scraped some sealant off the motor and the flange, and it still didn't fit right.	Finally I learned how to get the gears to mesh, and it fit right on.	Now tackling the joint #2 motor.	A diversion, trying to get access to one scrwe on the Joint #2 motor.
Jeff is holding the arm which we expected to fall off.	Pound here.	Or maybe here.	Oh, lookie, this OTHER part slips off real easily.
How to make a hex-head driver entension.	Brynn is getting the bolts out.	Sometimes you need to read the manual.