This page created 07-21-2002

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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.

rsoh01.jpg
The two controllers in
Brynn's truck.
rsoh02.jpg
Robot arms and terminals all
mixed up.
rsoh03.jpg
Two robot arms with missing
motors and covers, and wires
hanging out.
rsoh04.jpg
Everybody standing up in my
garage.
rsoh05.jpg
Good news. One controller
powers up, and is working.
rsoh06.jpg
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

rsoh07.jpg
Brynn and I figuring out
where to plug thing in.
rsoh08.jpg
A trouble light. Man, this is
real robotics!
rsoh09.jpg
Brynn loaned my his teach
pendant. $1200 for a used
replacement!
rsoh10.jpg
Trying to get the arm power
to turn on. No luck.
rsoh11.jpg
Two controllers sure gives
you a lot of parts to try
swapping.
rsoh12.jpg
Another shot of controllers.
rsoh13.jpg
Two arms also gives you a lot
of parts to swap!
rsoh14.jpg
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.
rsoh15.jpg
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.
rsoh17.jpg
Finally I learned how to get
the gears to mesh, and it fit
right on.
rsoh16.jpg
Now tackling the joint #2
motor.
rsoh18.jpg
A diversion, trying to get
access to one scrwe on the
Joint #2 motor.
rsoh19.jpg
Jeff is holding the arm which
we expected to fall off.
rsoh20.jpg
Pound here.
rsoh21.jpg
Or maybe here.
rsoh22.jpg
Oh, lookie, this OTHER part
slips off real easily.
rsoh23.jpg
How to make a hex-head driver
entension.
rsoh24.jpg
Brynn is getting the bolts
out.
rsoh25.jpg
Sometimes you need to read
the manual.


The sacrificial arm

rsoh26.jpg
Scrunched up wiring
rsoh27.jpg
Missing wiring


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This page is currently maintained by Alan Kilian