As I learn more about the servo motors and how to control them, I'll put information here.

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
Voltage13 V Max
Torque75 in-oz Max
Electrical Resistance2.3 Ohms
Current3.5 A yields 70 in-oz torque
Motor Brake Info24 V brake, usually runs around 16V to extend life
Joints 4, 5 & 6
Voltage16 V Max
Torque13 in-oz Max
Current5 in-oz torque per 1 A