Gory details of the Unimate Puma 560 controller

I stumbled across this old old report from 1991.  I wrote it in the early days of my second job, where I was trying to get a Puma 560 robot to do force control.  I got a bit carried away in reverse engineering the control box.

Download: The Unimation Puma servo system (CSIRO report MTM-226) (PDF, 27.2 MB)