Figure 2 from Interfacing a PUMA 500 Robot with a PC-based Controller ECE 4007 Senior Design Project Section L 01 , Yellow PUMA Team | Semantic Scholar
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Unimation PUMA 700 Series Equipment Manual : Unimation Incorporated : Free Download, Borrow, and Streaming : Internet Archive
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Unimation PUMA 700 Series Equipment Manual : Unimation Incorporated : Free Download, Borrow, and Streaming : Internet Archive