PUMA Unimate 700 / 761 industrial robot arm

This was the first running of a Unimate PUMA 700 / 761 Industrial robot arm. it has six (DOF) degrees of freedom. Here we only show a few simple moves, and control vi a terminal and floppy emulator running on a laptop. This connect to a LSI 11/73 (DEC PDP-11) controller which looked after the servo control of the arm.
The Robot arm has about 70000hrs of use, and dates back as far as 1984! it still works once started correctly.

Category:

Science & Technology

Tags:

• robotic arm
• robot
• robotics

[puma5k]

Cool, I got a copy of this manual already, can you send me a PM on this? I will send you a floppy emulator, you'll need two Serial ports to operate it, (one floppy, one Term) I've a bunch of VAL and VAL OS disks on file here, it's really important to backup the original floppies some how as it stores the factory config that is linked to bootloader on the EEPROM card,

[askjerry]

Do you know what the power requirements are for the DC motors? I'm helping a friend revive one. (I have a 500, but he has the 700 monster like you.)

[puma5k]

@askjerry Hi, have you a 761 or 761 model? as if it looks exactly like the Puma 500 then it's a Kawasaki manufactured Puma 700. Are you based in the US?

There was two revisions of the Puma 700 made after Staubli bought Unimate, the Puma 761 & 762 appeared,

I can tell you the power requirements for the 76x series are about 180V DC, and the drives I had where PWM, separate from the 3 minor axis.

[puma5k]

Hi, I'm using a floppy emulator from RP automation, they are a few DEC floppy emulators out there that can work on windows. however you can change the battery on the memory board to last up to a few months which is ideal.

[askjerry]

I just tested my PUMA... it's running fine! I uploaded the VAL Programmer's Guide on my web page if anyone needs it. YouTube won't allow posting a URL... so just figure it out from here...

rutherford-robotics(dot)com/PU­MA

I hope you find that helpful.

[askjerry]

@puma5k I have the 500 series. Actually... I just got back from St Louis where I got it from my storage unit... I'm In Kyle TX now... gonna take a nap then set it up and see if it still works. (I hope so!) I am lucky in the fact that I have all the manuals. I hope to get them scanned to PDF and post them for others like us. I do not have a floppy emulator... so I'm hoping my VAL is still good. I use an RS232 connection to a PC to send programs via TERA TERM (free). Me--> askjerry(dot)info

[Theatronics]

Great Work. I just got a 560C up and moving last week and I was searching for a floppy emulator... What are you using?