April 23, 2003 - Check out this article on motion control of DC motors.
A representative from AR2 gave me some specs that I know are good for the PUMA 260 Robot Arm - I've yet to determine whether or not that's exactly what I have. The servo specs are as follows:
| Joints 1, 2 & 3 | |
| Voltage | 13 V Max |
| Torque | 75 in-oz Max |
| Electrical Resistance | 2.3 Ohms |
| Current | 3.5 A yields 70 in-oz torque |
| Motor Brake Info | 24 V brake, usually runs around 16V to extend life |
| Joints 4, 5 & 6 | |
| Voltage | 16 V Max |
| Torque | 13 in-oz Max |
| Current | 5 in-oz torque per 1 A |